{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "637a8ff6",
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import sys \n",
    "import os\n",
    "sys.path.append(\"D:\\\\Electronic\\\\2022E\")\n",
    "\n",
    "from Algorithm.GCC import gcc_phat\n",
    "from matplotlib import pyplot as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "145ca20b",
   "metadata": {},
   "outputs": [],
   "source": [
    "# 信号采样率\n",
    "SAMPLE_RATE = 44100.0\n",
    "# 采样点数\n",
    "N = 4096\n",
    "# 空气中的音速（m/s）为单位\n",
    "V = 340.0\n",
    "# 麦克风之间的距离\n",
    "D = 1.0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "9c114b05",
   "metadata": {},
   "outputs": [],
   "source": [
    "# 输入信号，假定sig_a为左侧硅麦输入，sig_b为右侧硅麦输入\n",
    "# sig_b迟于sig_a 2048个采样点\n",
    "sig_a = np.random.randn(N)\n",
    "sig_b = np.append(np.random.randn(N//2)*1,sig_a[:N//2]*0.9+np.random.randn(N//2)*0.1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "ae5e6daa",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x21c4f7771c0>]"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(sig_a)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "d2c985f8",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x21c4f7b1fa0>]"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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HDmH9+uB6QIKFmn4ESp73Oz5fgaempeG9P5XVgv2+9RgKiiQsSj+hOB22INkrMHHaSI3juZfwt8+WG7ryaVbOJVz73sKAfYeMUFQMfLVsP35cfxgHTl3Qvb8uY+fj9vErZIORRenH8eDkNX5HUpzL0z6t/q+bjuK9P3caElC54Ps1uGLPSYz6bgNOnstTvD+taXLSoAA5Zy8U4Lr3F4tOhqks7SOSnV2yDH21avKrv+bl5SEnJ8fjh5wrK6ckkymtIraiBK2W9ztbaQrt+F1K2Tdl8t75fSc2HDqL537YZNg+P/xrFw6euiDbd8jM81PoVfupJyZcta98reywyWuxMP1EuZEU24/mYMjEVUjTMJPr3G2Z2HV5hMsT32/EuIV7sXT3SU1pVuq+iasxe/MxvPHrdtOOIUkSVuw9ifZvzcOvm46adhwrZOZoHcLrjCDMskCkuLgYTz31FHr06IFWrVrJbpOamoq4uLiyn+Rkccsxm/Gi8RuZ2+B+MWsmVKtKJG/+uh0Tl+5T9ZlykyD52fbAyfOGzSlg52Bh8a4T+DnNuin9cy7pWxhPjtxq0KVs8KjpdjzXsybhvomrsHzPKdw6brmq/aw/eAaPfL0e/f+zxOP3emclVerImSs1SPN3ZGHktxuQraPvk3ceNnTSGpy9UIAnvt+o6PNmPZcOr5QxnWWByMiRI7F161ZMnTrV5zZjxoxBdnZ22U9GhriOPIFeynmFRTieG1wTzah5WLwfWDs8aJOW78fbv+0IuJ2WtH63+hB6v78Iz05PK78/9buz9ctw6KQ1eHJqGg5dbmaYs/XKMPM5WzNx14SVOJZ90VbNUSL5C7StOkfuHZfVBP7bDZo9Wo6S7+6e0uH/XYffthzD+3ONG9Bgh3wpEHNvEWc8pJYEIqNGjcLs2bOxcOFC1K1b1+d2UVFRiI2N9fixWkFRMZ6elhawvfq69xejy9j5OHjqSgfP6esy8O1q+bHggL6Xz6WCIjz8v3V+92+kudsycf9XqwNvaCAzmzt8ZYpKXxSfLCgZQTUr7XIVb7kmHfs88KXfSW9N1InL7fcjvtlQ9rs/tmZizf7TeO3nbeoSo28T1exyNez2Inx2+iYM/ngpCizqQB9wtJ3M+cny0Qyh91Sulmnqsoq/82BusCp/1rYeycaXS/aVa0oUxdRARJIkjBo1CjNnzsSCBQvQsGFDMw9niJkbjmDmxiP4Oc1/m2Jpr+cFO48DKAkUXvhxM16auRWnVHTAKhPgZpy2NgPztmfhpZlmjDUv4Z4pPPL1esPaiUt3G3gIsPW5thEvCkkqmVdEjXI1SgZ+99LOima+BM9e1Dd0+I8tx/D27O0oLpZs97JWS/Lxb720vqD8dVb+acNhbDuag+V7/D/bWu9H7+BX5LX1PvRDGkfjKT0Xk5btx6L045qOocSrPxuX99/4yTKM/X0HvrfJ8GFTA5GRI0fim2++wXfffYcqVaogMzMTmZmZuHjxopmH1eXMBW1to4VufQcu+hiuquehtGJJa7uulutuxd6TmLlR3+gKI76ne15/8lyeohEfuZcKsGb/adNnCy2d2VTvUfy+CHXu/LFvN2Disv34bYuA2YVNPP1y+844fUG2durUuTzNtVbul2aZhgJD2VENXqDwb+NXaEtHgN8pT4PvvxWY+NytPXAab87ejmGTzZt64H8rja8N32li05wapgYi48ePR3Z2Nnr37o1atWqV/UybNs3Mw1qq9MY3okNmemYuXvExu55ZQzKVplvPy7v0EIG+gZLmjfu+XI2np20q6+UfiFEvfX8pC1S6LHXH+JW4a8JKTF2bYWp1bGlt3dYj2aYdw6ig9URunqJzUVBUjMNn9A+NtdoXS/ah17sLy43e+TntCDq+/Rfemh24T1Mgf/dqQhU1XPVEbh42Hjrr8buA19bktLofP7+w5B76+8TVPmsutOazR8/at3DtBKY3zcj9DBs2zMzDWsrIx2jQR0vwtY/1BsjTMQUrUo5ftBdt3piLnZk5hvfhcN+b0rkQShcBm2XRiJSdmeaWdowIppQ+P/d+sQo9/71QcdDnj9lrSLlbvf80gJKApNTF/CI8OTUNQEkHa6EMPBlGddo2KkVy1+WFHzdj2Z6Tqmou/OUdegs6S3eftKx/mVx/ELvUgXOtGS8iL4zcPf3KrK3lhlKu2HPSZ6nnvysOYNBHS3EiV0M/FR0ClZBTf99haKar5NH995ydOJdXiNd/UdixEtBUQvtyqeCXiQ926UA7Y8Nh2TkxAOWl93WXJ/f6bs0hRdvrfb/O2GDc5Greur8z37R9K2XFnaH1/jMzD9aSL/rK2yYu3Ye2b8zF9qOBA35/t7lVqxTf8PFSS46jBQMRN3tPnFPd2UhNNaj7tn9uy1TUGfTrVQfLSk+l7pu4Got2yc8++tov27DjWA4+mLdLcbqupE/1RxTJzLmECUv2lU1wZgTVq926bS+8c6SP42flXDK2Wl3n2yZgU5qCi7Ap4yyemb4J93yxSl9iLPav3z2bTIZPWetzmm21zVRnTF4jSNFU6Ar2c1JHH5aytNgkGDbD27/tQG5eIV4xsBOpmXZlnROdBJ8YiLjp+3+LsWrfaUuO9ejX+qa5D9RBTen6LkrZLUOxOj3embvePjve6Z+18Qi6/ms+/jnT/+KDdiE8mFPpRG4ejmWXtONrSfv8nccxaVngmi87dPg2IphduvskOr39F0YpnAjMZ1oCnA9VSQ2wrdwTaUQ+cT6vCF8t2++z07ESnHPHPwYiOsndl75eUnqyB+9dBnoejO6wZocMVk6wPODv/VlSg/X9GuOG06k9NYVFxfjHf83r9X/Az6KKZsovLEbnsX8hJXUBzutYhyXb15Blez4auszYUNIc/Ntmc0c1GZmvlN+T+n3LPTOpf+zAW7O3o9e7C9Hz3wvLDaMNkixIKAYiVEaSgOlrM/DApDWik6KY00rmAGybc/25LQt/7VDWNLnu4BmcUTkN+A/r5YMsM06He0l4+rorx1W6ZofJI6zLkSs4+C3N666Rs4fSr+0+rbvZw9vVcu8gfeTsRVOG0Za6a8JKfHp58sRQwkBEJ1URvYHPV8AqT437fOGnzVjio/+J388a8N3U5K2q+4io29xU8uvViM98fc1/48vzP25Wtb2o5r2zGuYGKjB4JWp/zpzPR89/L8Q7Mgv0aSFq9WXZ2mGF1/y02zUquryjomIJ6w+qayp3QsHEX63cmv2n8f5c9f37nI6BiEHc7//RP23W1FnUH+8H2vuBO3Tqgkf/AtMLFYLf7KYtTuXj90dUzBMQaNrk9QfPlPsCZmSgal9I3qXyQJ/foXIyJDs0o5mdBC3XcdLy/Thy9iI+X7zXoDRou5mMHmmnaK0ZmaSW/u7zxXtx+/iVmo/f74MlyA+wGvLF/CIcD1BLpiSYUvOsaSnoaRW4Cd+adAQSIToBTid3IZfuPmn6MtreHpi0GgdOqZ/wyS43ohIeS3lffu5Fvdzc1xjy9ujX6/HVsM6q9qf3MshX7duLWekpKpbwxZJ96NKwGjrWr1r+uG43iVmzdqrZxpuvFZ2tvreveXehtQeE2/IPMn/738oDqval5HR5X5/u78zXPYrJ5Qoc/BmVzxYXS9iRmYNGCZVRMTLcmJ3aAGtEdFJ6fy3YmYVcHR3lAmVK3kGIllKRnh7sVsQz7kt5l5ZSlKR51b7T2OfWUdL9M95NXErz/h/W+Z5nYv7O41izX/voq/2COnV6l+qmr8swtNOzXKlR7e7lrs+MDYfx7zk7cbvK6cVVH8gH9+8wcdk+3xsayIwYxV/T3IncPMNH4gHGdqrXsiezh1Ib7b256Rj88TJc/eocRTWSdqiFVCJkA5Evl+zDX9uzdO9H6XP00JR1uo/leVzj+4gEs9LFCa3y1FTtwx61rHosP3pL7T48d/Ld6kNYZsBMpv7So3bUhNzWe06Unx/B52rLCo+j5tS5f4fS0SZyrFrx1miZ2ZfQeexf6JYqfiK2QALdT1pezEru0UBNM0YFBOMXXWm+++ivwJ1anVLjHZKByLoDpzH29x34x//0BwelN6ndAk9NNSJqNnb5/a9u/f+z2G/VrMugpplyfW8Ufs7MQPDwGfXrVpiV3+w9bt9JkKym9xyvPWDNHEVGK50V92yA2gOttYvl9+Pb679sw10TVpq2fL2W/MQFl7D1fYJFSAYiRs7wue1IDn5OO2J6DUT5ZeON5+9hCtjpyeC07Mo6h1d/9j01u2HrUZh05YoDnLBy19OEjKzQZsMgtYya8X4xBNrDf1ccQF6h7yYEUSNKAN/PkIirpOY86HlGAh2mbEFMme3KFxIkTFlxAGv2n5btg2e3wqDZVuw9id7vLcSKvdb2RzRDSAYiRvptyzE8OTUN6w+cMfU46ic0U7bfeTv0N0+JsP1y+6iW97cVk7OpTZfetmq5QObLJdb0V1DKZ3OJnzeI99cKdFpf+2Ubvlis/3vnXFLen8vMwnBRsYS/fbYcj3+rbyZmb3YpwWt9Fn118BX1tUQEuDmXCnHg1AXc96XvptzAybLHfcBAxCC7j1uzcJFSSh9I9wXh7HFLenp2+ibM3Fi+Y+gbv2437Bj5hcV48cfNmL35aOCNFbL6XModb7fNmlXk8kQzXhzrDp7R1WS3x895yyssQs4lz6Bx69FsRfvV8l13HMvBhkNn8fuWTF2zwurhnu4f1x+2RRAj399IEAWjZqxyqaDIYzVwmyQroJAMRJzSk9ifwBOaKbsDFXfeC1jFas4d/9OGw3h62iaffzfiWk5bewjT1mVg1HfaO5h6szoD8D7e1iPKXo4e+zAoLb7IXavz+UX4c5vyWjkrHl1fE6BJEpCSugBtXp/rMd37u3PSFe3X1zPp715x/1vL1/5UdBxf3GcsPXkuH/N3ZCl6bt03ee6HTVisYh4MTZ1DnfL2VOF83pXmQjO/XZexf6HT23/heK6yGYTtIiQDETnfrVa2vLgvIl48e46fw8Sl+2TbxJWmx71K8aEpvtcZMfr7/XtO+VkkjXzJrPax7LycE+fUz7wZSKDM1Oxg2F+pXhS56uvpa41bW6eU95l3vxZ6T/vpy9Paawn01HLB932SlnFW9f5emnVlwsPnftiE4f9d5zH9vVLpmQprf13GTqjlvq18nxL95GoRlXS1CtQ0M+IbY5vWfCltUvTVVWC5gaPgjMRA5DIlq55OW3sIK/fKv+D0vqcDdeST+3u/Dxbj7d92eAzpUpoeufUc/PWK/2j+bmw8ZFw/mPGL9npUIWoll5Gt2ncKd/tZdt77M1oysEDn1/vvZg/dzMz2LAFpaXsXUVFYWGz+kFaRHVTdiS7oyy2ouPWIutlx/dHWX8s3bUNt9ZHLAw2fcdbQvcnzdR6GTFwdcCZZERiIKLTh0Bm8+NMW3Pul/AtObyajdvy7+9YbDp1VnZ5xC/coS5ibR782NqpXXLJSaYWPYFGO1vVP1K5+fNcE7VNVz9+RhYUB5kEZ9f0GzfsvJaJp5mK+/0mybBJDALCmk7MamzLOBqx5m7c9q1yfFjtyfw59fSU73Qvu7JistIyzyPexXpKRo0aNwkBEoYzT6qdPN5PH7KCyT67/DOqr5fsBqHu4iz2quPU/fkMmqp+4y935vELZ9KupfdDyclmz/3TgPjNe/98oEywqkXupAMP/uw4P+mk2A4CdxzyDOl+Z+duzjevkq5bcPXPeKxCZuuaQRx8E7+8xe/MxhX0I7Pd68JVqrWvM3DJuOX5YX74jt/txHv7fOgzTuZq2nvBLS98yLX1pRLJjgPTFkn149odNsrPlup9fu5xTBiKOFaCzquI+IlqPLv4Ovv6DxbK/l2uqcuedcrXnQEntRqDzrzSQc+/kZoSJy/b7/JvZ+amS8zx6xhYMDfDi3Oldk6aidsqOLw09fpQJRLzJ1ZjqVVQsYfbmoziqYjFIOVpzEVErOctZte80fnDra5N9oQDv/LHTtBpfpX7ddBTHsu3XDCMnJAMRTX0CAk7oZe2L2agJxuz0QPsjN2nPURMess2HPTshyvWlAQKf/0ATmgXy4V/6Vm8W0b4eiFF3WmFR4JT6+v6BglSltOUhEiYuNX9uFysCymlrS0aZ9fj3An07k7mUeh6dZbutW9nWnfsEa2/M3obPF+/FgA+XCEmLuzBnZO+hGYhoEXC4rMAKAvmltJWl1yklRH+T9pjJexnxUoHuh9xLhT7baJX4UME6Eu6802mXKld3Wu8178mrMs5cwK+bjvoMEgHvpssr/56qY5SO/n5gwNu/7VC8vV2eTe+8RJKAZXtOlP277Pden1NSyCmd/Vf1d/Wx/ZQVBwJ8zPyTui1AB+DHvtXfn0upMIvWwNGLgYhCZmfsah8QfyvIlvzOv+yLBXjz1+2aS+5mPNCiHgp/32XfCe0r4fb/T0nT0YX88hNRrVQ4vFhrTdsz08vPvfK3z5Zr2pdRXHBhV1auqjVXdh8/h6tfnePxu8e/3YAnvt+IWWm+F5izJQWXctpafdMIKDyMKv9WOE+KFodk+t7pmQrfDjXXEeE2ebtDPhBZ4qcPlighH4j8nHYE9/oZ6lnKLhdMKSXpnbR8PzJO62vjNZJV51jNhEn/+l2+BKskEDtw6gLyC4uF1eZ48+4rYHXg53IB/f+zBHd+rm4Eka+aJV8BjSRJHt/NLgGLkpfgiz95TiNghxKr9zD7A6cuYOku8+aj0BMs2CGbjrBRe4jc/fP+XH3NvmaIEJ0A0Z6cmmbIfsyeDdDfXAgigiQ7dFa1gs8e/Aq//+Tl+zVNPmUFpwXX5SnL8PeqrNWyw8sfUBbsrtmvrHbJyPzp+zVqam3Kf4ddWco6cWq6DAZ1EtcjTFAgomVKBrsI+UDEKKbPI+L9f7dfqJk3wyxG5HPCmmYCLLq2/2T5F9k3q5RlxuVGeNiZ2c2PBl9gf7vTcyQl97K/TXy99LU8I5pWLJb53SMGzwGkx1gV/WTcjZlxpbbIhZLn8uP5nn2p1BSQfC2cp4S/uVm0DtXX41JBEd77s3wTWniAoOjshYLLNYhio++QbJqx44gCpzGqZHExv6hs2uxAk1sZRc21XLH3FPq8v0jzsfRkdmZT8hwcNHD+HDOyur0nzukeoVRq+9Ec/LJJ/8KHv24+Jvt7y5oeZX43b7tzVtkuPU/HAswAOmzyGszcqL3Z7TYdfab+2CJ/jUXx9QwE6qw6Z1umYa0CerBGRCGnLcTklNS2e3Mu8gqLsfGV6/GuTEQfyOEz+vu4mFkWMOolKcrk5QcM21eejlFEcr5bfUj3GlHubvh4KQDguf5X6drPs9PTDEiN83jnkb7egUonAwz06Bw8pbyjqxzvofpqOOWxVpK3/bLpKN69ow2iK4Sbnh5fQrJGRItA951D7kvbKX05bTp8Fhc01IhYtZiUVk65L/ILi3WVLpX4c1umqfs3SnqW/IKB3uv5+OKrEkzLvWCX/ir+ZPtZo0qL4zmXMOijpZo+65TnzSpKz8cT3280NR2BMBAxiN4IOeCid15/Lm3OCBbBmoHYuSbN/Zb6bNEexUOKtbLvmfDk65rNcQuk/D2tdr7mZmj75lzd+3DP3w6cuoAdx/zPxeGrT4NV5z7YrrDoprsQbZpxXicR7xRfMriaWy/do2gsPL/ek12ZWeq0YHFZzdxP+YIAi+oZwQGFe0P4upXVviQlSJquSyicZ7nv+PqvgddRSlc4YoesFaKBiPH0vognL/e9Bojs8RRmaidy8xQP8SPjFeksoVk3t4r5x3BCMwOgf3SPngm53P2y6Si2Bpil04jjmMUF+Wu+KN1zGva3Z2/HsB4NVO17whJjpurXSunz8sCkNagTH616/1kBOuoq5ZTaOQYiCpk9xXugjnzemaPS4w3+eCmO59pv2WdvouYlufGTZXhQZSaohp0zAvc7yorzH6gHv5HMPtSeE/L9SPxReytoCUJE0nqrT1y2X3UgsnyP2CkL5GZLluM+i6kaT05V12fDqOBXlJAMRPRmUr/bYOhWoNEYpS9Aq4IQ3fOoCHxijBwZ4s3GcUjQWrr7JLJyKive/l+/70BMpLoRA/+Zp2V2yuC9GZR25PVF9DwWannPX2K0tQfOmLp/uwnJQEQL9xfK4xYuWuSLiBfcyXNXOsganW9YOt2GhcfS2zQTTNYftC5z3eVj5Iu3o2cv4osl6lfEPWPwSBGn65Y6Hy8Pvlp0MiyTc0lZjYhWaucfclgcVw5HzSgkeviu940men4K78M76UHwNyui0fQGWJ8scO60zU5wqcCaSfQAi4NtAcYvEttvg8pzSjmIgYhCAS+oxVfcbjeY/qYZ676QnhkV1dLaRlxK3boe6rhXh9vtfrKK3Nw1DoqpbcX7FnJacwuJY2ogsmTJEtx0002oXbs2XC4XZs2aZebhTGW3Rd5Ep+enDYcN3Z+V38a9iSmUuQd/oRqI3PjJsnK/C9FTIRRDFn18Pb+LdRaErGJqIHL+/Hm0bdsW48aNM/MwtmB604zX/+1QzXv0rP7p1UuF6ouQKFjITbLIAIOUMLWz6qBBgzBo0CAzD6GJGQ+H1S9S0X1EgJK+FrVREQADCSdi1bm1+IyQWT7QNIrLPmzVRyQvLw85OTkeP3YhPBNROY/I0t0nkW7yEvRvz96BdQeMmixN9AkmMldeoXUdY+3AznPoBJuvlqmbENNubBWIpKamIi4uruwnOTlZdJLKvDxrq+gkeFDyiA/4cImpaVi25yTu+HylIfuyQ1NTKOPpN98z0zeJToJtsXIutNkqEBkzZgyys7PLfjIyMkQnSTHLO48GWWkjyL6OIzDvl8eSvDHUnEWe8tBmqwnNoqKiEBUVJToZmphdot9y+Kylx6Pgx1soOPGlTk5jqxoRJzN7Mh/vdSeuuSrB1OOppTfvyy8KrfZzJZ6ZlmbZsVgLcAXPhDHMXtmagoepNSLnzp3Dnj1XZobcv38/0tLSUK1aNdSrV8/MQ/vlxNEC2495BiKVomxVmaX7Rfb0NLafe5ux8Yip+3feU2ANpwdlDszeGPyFOFPfZuvWrUOfPn3K/v/MM88AAIYOHYopU6aYeeigZ7e88s3Z20UngYhg7bT1/oiedJGcw9RApHfv3o4vXZAyuSYvAkVEynBBPnIa9hEhClGF7PEs6/AZ42YMDmm8vUihkAxEHNiESmQqVlxesflwtugkhBzWnIe2kAxEiIiIyB4YiDjU5OUHRCeBggg7FpLR3v0zHS7WP5MC9hoDSoqdPJcnOglERD6lZZxFWsZZ0ckgB2CNCBERCcUuIqGNgQgRYVfWOdFJoBC27qBRq3iTEzEQISIioTizcmhjIEJERETCMBAhIiIiYRiIEBERkTAMRIiIiEgYBiJEREQkDAMR0i3j9AXRSSCNLubbY8l4IgpdDERIt/TMXNFJII2ufnUOzucVik4GEYUwBiKkm4vLSTjaovQTopNARCGMgQjptonLpjsaF7wjIpEYiJBue49zenAn4zofRCQSAxHSrZhvMkfj1SMikRiIkG4MRJxN4vUjIoEYiJBufI8REZFWDERIN8YhzjZz4xHRSSCiEBaSgUiH+lVFJyGosGrf2Th8l4hECslApEp0hOgkBJVixiFERKRRSAYinH/LWOysSkREWoVkIELGYo0IERFpFZKBiItzkhtqyS72MSAiIm1CMhAhIiIiewjJQIT1IURERPYQkoEIERER2UNIBiLsIkJERGQPIRmIEBERkT2EZCDCUTNERET2EJKBCBEREdkDAxEiIiIShoEIERERCcNAhIiIiIRhIEJERETCWBKIjBs3Dg0aNEB0dDS6du2KNWvWWHFYIiIisjnTA5Fp06bhmWeewWuvvYYNGzagbdu2GDBgAI4fP272oYmIiMjmTA9EPvjgAzz88MN48MEH0aJFC3z++eeIiYnBpEmTzD40ERER2ZypgUh+fj7Wr1+Pfv36XTlgWBj69euHlStXlts+Ly8POTk5Hj9EREQUvEwNRE6ePImioiIkJSV5/D4pKQmZmZnltk9NTUVcXFzZT3JyspnJIyIiIsFsNWpmzJgxyM7OLvvJyMgQnSQiIiIyUYSZO09ISEB4eDiysrI8fp+VlYWaNWuW2z4qKgpRUVFmJomIiIhsxNQakcjISHTs2BHz588v+11xcTHmz5+PlJQUMw9NREREDmBqjQgAPPPMMxg6dCg6deqELl264MMPP8T58+fx4IMPmn1oIiIisjnTA5G7774bJ06cwKuvvorMzEy0a9cOc+bMKdeBlYiIiEKP6YEIAIwaNQqjRo2y4lBERETkILYaNUNEREShhYEIERERCcNAhIiIiIRhIEJERETCMBAhIiIiYRiIEBERkTAMRIiIiEgYBiJEREQkDAMRIiIiEoaBCBEREQnDQISIiIiEYSBCREREwjAQISIiImEYiBAREZEwDESIiIhIGAYiREREJAwDESIiIhKGgQgREREJw0CEiIiIhGEgQkRERMIwECEiIiJhGIgQERGRMAxEiIiISBgGIkRERCQMAxEiIiIShoEIERERCcNAhIiIiIRhIEJERETCMBAhIiIiYRiIEBERkTAMRIiIiEgYBiJEQWDEtY1FJ4F86NKgGh7u1RDf/aOr6KQQ2VKE6AQQkX4RYS7RSSAfnurXFN2bJIhOBpFtsUaEKAg80L2+6CSQjLs7JZsahDROrGTavomswkCEKAgkVIpCu+R40ckgL/GVKpi6/66Nqpu6fyIrMBAhChLhbJ4JObziFAwYiBAFARffSCGJ152CgWmByNixY9G9e3fExMQgPj7erMMQ0WV8JynTu1ki2rIZi8g2TAtE8vPzceedd+Kxxx4z6xCGa5ZUBT89liI6GURkorduaYWfR/YQnQxDuBwcfr5+UwvRSRDm793qyf6+U/2qFqfEHkwLRN544w08/fTTaN26tVmHMJwECSxXEoWm5GoVRSchpLhCuF3p7Vvl34spjUOz87Gt+ojk5eUhJyfH48dKkgQAkqXHJDJCKGfqWvVtXsPj/1fXjBWUEqIS7k/xDa1rCkuH1WwViKSmpiIuLq7sJzk5WXSSiChIJVaJEp0E3Zwcfzo57Xr09DevjNtJCaXAWFUgMnr0aLhcLr8/O3fu1JyYMWPGIDs7u+wnIyND8760YF0IKTW4TS3RSbCNbx06dbkVtUhO7sOhR92qbOaS06pOLL4e3sXn30PzblE5xfuzzz6LYcOG+d2mUaNGmhMTFRWFqChxpRRJYihCgUVGhOH2DnXw2+ZjopPiIVRLmFrpmXYlIsyFwuLA+YUUosUbJVmp6Oy239VJWLbnBC4VFFt2zPDLBXZf3P8USneOqkAkMTERiYmJZqWFyBbu6lQX09cd9r1BKOUQQSxMR+Q2bkgHPPr1egNTE3pEB86RES7EV4xEZsElsQlxE6o1aKb1ETl06BDS0tJw6NAhFBUVIS0tDWlpaTh37pxZh9SN7xf64v6OqFghXHQyyALeM9FWjFR+3ZOrxmg65vghHRAZHobxQzpo+nwwqRBuqy6KJJBpd8Krr76K9u3b47XXXsO5c+fQvn17tG/fHuvWrTPrkIYQXV1IYvVvGTo91Y0SV9Hc9VTMclcnz87wYwZdrfizWptcBrWuhR1vDcSg1uxjlBQrtrOw2tqHhMrmp1d0LZEopgUiU6ZMgSRJ5X569+5t1iH1c0AQ8p2GjoFcgsR4Darbb9VTEdW6T/e7Cq3qxFl+XCO0qB2Lwa1roWvDatj7rxtQMy7a8GPIXZNQWBOof8sk0UkwXLtk8+9z9zsjlArFrBtzGC1LinduUE33cV8L4VkQ5TRKrCw6CbbwZL+mopOgy7ghHTDt0RTHBgd2TXWVqMDdD0PpRauUUTUiS1/ogzrxzhm5xEDEjYjn4m/t6wg4qnpNa1QRnQTL1IxzzgNMRBrZMIpzH1GjZ8RVcrUYxDqoyZSBiEA3tK6JD+5uJzoZ5OXBHg38/j1Uh2SSesF+r+gpwYuuEVGfdP2Ri5Vf2YZxlk8MRNxYPY9IbLRzItZQEu3UUTNOynkcLlSHWXrzdRbkctLZT/Q0MylBwT2ws/Ie8zvbqwUYiHgJxvJLMH4nCg61ZDqIVlbQv0AtUSM0zH6ZuFflh4e58PJg5SN/3D17/VWaPucvb+nutYDb1bU8pywXnS/pmUdGq+qVIhVva2Vtmpqh62ZgIOJG9INhZ8FexayG6CrlYLf1jQGGdx51n7MiPiZ4aiK9a3H/0UvbzNZP9G1q+DDsf97gPygSPZP18wOaWXasScM6oVfTBIy9rfyqu+5rHl3TtGTC0EiL51gRnacZX/Qg22ElMoU698CmigFNonYOzKMiwpBXaM205f5eYN41DnbLh5KrqZuUTk8FynXNk3Bdc/khze7n8OpasZj39DWoUSUak5bv135AOGtOEtaIuNEbFQ5qVRN9mnEK/GBXK974+SaM4KB8p4zPPgaii2gOIbduyabX+mvcl97UkBae/UKApklVEKeg1i797YHmJcpiDETcqC3lTHmws8f/ezdLxOQHuyBCYbWykx58JW3dTp2LQa1KkaxIVMO7b4ASDEO0s2tna+/8zoj5jQCgZqw1BQOzcjf3mFvNOyEqwp7XWQsGIm7UFsKcOqOkFhIkfHRPO7/b1LZpTQEFZubkRymNqgfeyIvdK0Q4akZeaSGsV9PyNcPetTdVK0Vi02v90bxm6MxRFIi/lXnlPHpN+T5B93erb1RyLMNAxIuaDFDNLfPEdU10HUsPow5zS7s6+GFEikF7U6dt3dAJ+sh4Sp+1OU/1wud/d+aCdHZozlr9z76YNbIHujSspqh0H1exAiIjxL2G7NzXR0nKxsh0CH75xpLfOanGnXXMbvQ+x/5KSUZUl97Zsa7ufeiltNnJaGpLClo8o3EIo104KePxpUvDkur6kX0aY9zCvZYfv3nNWDSvqb4pyclio417DVSvHIXqFiwO586qLMms56tpjcqoEx+NaiqG9vqjrclGbEDGGhEvEeHK7za9L0e1H3/vzrbajqPpU6FlWPcGsrVWoUJUadr7GWpVu6Tm65nr1Q2tDDQ/Q7dGxvRHCEaLnu9T7ndGvRTtTm0T24zHuxteIAwPc2HWyB6YNKxz4I0NMKx7A0uOowYDES/t6sYr3lb0C76CiqDJ6cxear5JjcqW1LrYVcNEfasJ39e1nkEpKaG243PDBP/p71S/GqY/moJVY/rqSZYQ/oKCx3s3Lvt3p/ragq3S/buf8RWjr8P6l/tp2p/VSvujKFloz5vappkO9apqLhD64nKVBOTe+c8Qg5+pUqMHNTdlv3owEHHTtVE1hIXIyA+12iXHA7CmiUSOkxZwEkVPB8pP7tXXL+Jft7XGHTZoOvSnS8NqqCkzk6scM2Z39Va3qrIOwute8h0Q1HAbMRJVwbjsPLpCuGVNLHpzlAYJlbDsxT5Y/ZLzgkx/kmKj8fXwLpo/L5cfJMVG2XJUFQORy14c2Bxv3NxS1WfKvZP9PFFOL2yXTgIlogq/Q714y48ZStrXizekKt6IGF5r50Gj78oZj3c3ZD/+nvufR/ZQtA+7F468pzGQM+2RbqYdf1CrmqhbNQYxQTisPiJM+yvaSe8cBiKXPda7sSEzLpLx7Nuv3bnqKZhV8tZ2tVXt04gYVes+mgUYAqo2wLkqqQpubqvu+8se189hre7UaRZftaTuv25t4qi3BgGa5ezOXy2znlE90TKdVu067JyBiA5GX1S14+ntelM5kZbSg1nV98/1Dzx6Z5bC0rQv3rM5yvnwnva6jmElM9q9i20wHNZKRje7ekzUZdO8Sk267PodfEm9vTUaJVbC+wr6tIi+1RmI6KH7vizZwa+jemJw61qYcH9HRZ967442qBDuwhcPKNveSKL6iLg3CdllAiSzJgH7u4IJiVrLTKan9dKIft2qrXnxFhMZjlgTajPdz4vLZd0wUTu6rnkNzSv7AvZtJrDzPCJ6NU6sjAXP9rZ93y2AgYgu+h+ukoegdd04jBvSAfWrK6tivLNTMna+NQi9m9XQmwDTmVFrYMby3VpKO2ZlYvExgftruKf2bx3qAAAqWdDB0gwf3NVO1+eVlOa0lPjsMEGYXbSqE4drrlK3jpbix9SuUYoXs5KpdLc3tK6p/1g2PdUMRCzU7+rAgYPSyYVEreuiNnP+/f/1MuS47rMvKh22XDoqwehgSPT7qVfTBI8OjKVB1OsqOlu7fPxbBF+dMT8bInaG02IDFrA1KuP/30PaR0/YnugHys7cTs1nQ67UgN/ewf61HGqEbCDykszUuGqpyWMSK0cpataobeKaHyIoHS7pjyR5ziNSWWGwVrdqRaS/PRAf3KV93H+vpgmaP6vHKze28Pm3nk3k02RGU5H7PBVWcA905ZqfrKS1j8hrN/m+dlopqY0wo9m01uXnt38L+SXsrTawpf5aAbP1bpaI2iryPS2XrZHOeX/sJmQDkfrVA48aMMKn97XHkK71cFv7OjKBi+iyqHpOmvRLkpRPd+zra4kKRIb3bIg3b1E3nFwNpdfR7InkjGDWLekdhnj3GZGz5qW+eLBHwyufcXhhf8GzvbH0hT66F/j0Pl+VIq88l51UrMIrMvtRemwXgMUv9FE8JN7fbn3dPjGR9psLRI+QDUSMyB+UZOY3tqmNsbe1RkR48J/qCjLf0aiMw70Ph9r+HE59F5g58ZAZ+bmv8+zUTp7+miF9/alGFeeuQC13mSpGhiNZwVBvpaY90g1t68bhu4evzCvyrIJRYqW6+6gNtJsK4WGIDrCYX4PLheEb2yjvrP3qjS3Qq2kC7u2ibdZVX4+i6Dwy+N+OJlIxn1nJ3702EF31bLRIE4Mt946hajuJKimVanlXml3adU/Tdw93NfdgJhjYsibqVq2IESqad7ScUrOuQ7Ho3DmIlBYeujaqjp9H9UTbyzM1A1A1EVlcxQrY+dZA3en59D7xQ9N/eaInfhiRUtbZXI73vf1Qz4b4enhXW86OqkfIBiLuF/gtE6vAfbmzY13c3TnZ8uOaSa5GxB60v1Eq+nngrXxPdW/suySoqdZJw2eWyCyO5s9T1zfFshevQ4LJE3f5Ckzd+xNouVbuwx61BjsOask0nFnzbih9Ce9403fAYmZfE6XNnrHRFdC5QTVHNXebxa5vDkvdn9JA0+fU3j/uD+b9KfWFjXwxS3yMOf0JJOjL1PSUmBslVsY/ejbE8wPKrwZr9vBOu2VQ9arH4Mm+TQ3tKOf9FY06pVte74/xf9c36mZQK/t3jHQKEbdyRYP7UajNg4x4fo06b6V9vVL8FGhEYiBChvnXba1FJ0GW3nfbyze2wMg+TQxJixFEthg8ff1VePb68kGZGdQGJddeHlnSLKkKqkRX0P0i8P68FR1PRS7RbrO411RmBvmlezaioGLUPTf7iZ4YPag5Xr/Z+BFdRgjhQET/FfaOkO1WgvVl/OX5GYzM9N69o41spzb3M1KvWgzG3ee/lNq0RmUAQGMDSt2lV1hRHxEfl07rFb27k72b3TzmEbn85fXeD2ozzZjIcHx0TzsAQJvLa5HcrmEWyNLjfnh3O/zzhuayK5ZqzdBLh692aeg5ssOsR7174+o+//av21qjS8NquP7yUFrvGYb1Jqm0+a+qgppNtZW5Rp0uJ+SwY24wfrkBvZKrxWDEtb7XUxM9eZ8zp2K0Ce/MqFmS8qnHRa5bMKh1LeweOwjbj+ZgyooDAbc3qg/NG7e0RJ9mNTDyO9/b1I6viOmPpqBydASavvRH2e/1ZPxKOrdquR7+As+mSZU9/j/z8e647bMVAfcZ7baUu+KJKRVu5/EZt7SXZkKv39xS0f2g+BgBUrb19QFlk5n99Fh3nDqXr2vemaqVIvHINcbOezL90RRMXXsIw7o3RJd//aU6oDFy6vn7utbDfV3r4XxeIX7bfAx9FUyQqMbbt7XC1bVicWObWgG3dblcQsYmd6hf1dD9Gf0VHuvdGE1qlLwHjCiYqu2Yb9Sq0VYL2RoRo2/A0YOam7rCpC+pf9PWHKK0Y+mkYZ1wX9cra5/4erSMDKuqVooslz4t1+tKFann7183aMIpNaWI9vWqKpoR9oZWgV8C3tzzuwiB/Y7U5rvuM6pWCA/THISY+TpMrhaD5wc0R2KVKFX34Lu3t0G/q2vormX6r8yMqpWiInBX52RDVu/9p1vpPTa6Ah7r3VjRcF21d5lRtcVGTdqnpQZAyQzNIrv9NUuqgg71jA3UrBKygYjR+ihY98VjxVODblit48mVuq55kkenWj2ZvpKvLHteNEaNcp/qd3UNDO3eAM8PaKZ62uzSZqPSEmOgVOldbErLPeLvMymNrlT7yzXN6CWsdlfAcQN917s6J2Pi0M6qOkxGhochxatp5lqV67t4q189xu8svVprkNR31LePG9vUKpvXSen3aFk7Fs/JdFj35l4LaKc+It5KV6tu5zaMWiQGIjqofRifuK6pOQnRyI5dWnzWuOhqmvHelwsj+zRRvYjXDyNSMPGBTornxbjTKxAxqzmuo1t1tb+My32mRyuuvd5jGLmooN1XWW1VJxZb3ujvsw1fq8jwMAzv2TDwhiqJbFrW69MA/dTk/PRYdyRWCVwDZff7rNSIaxsj7dXrMaSruQVZpUK2j4iZt8tVSVWw/VhOueG5V3n1GxDNyHk/fJWqrezA27ZuHGIiI7By3ymP3ysqmShoc4qPiUQ/9zU3/Ow2MsCsikZY9FxvrD94Bre29z0hkj99m9fA/J3H8VAP419UpE6Yy6V4OQI1THv81NaICI5b2iXHI+diATo1sK7pwu6DF5Ss8m0V1ojImPxgZ0VtkR7TjrvdcxPu74i/daiD2U/0NCN5hmles0rZqAClrOgjotWdnZLx/SPdyv3e6iaD9vXicWfH5HIZ0WAFnQCVnMjS79MgoRJu71hX03w0Lrgw4f6OWPJ8H2Xpcv+sHS62G6eUQv0x4pTKXRenr3VjlIoVwjH/2Wvx7h2eC2AqPT/K15kxtmnGKqJTykBERp9mNbB89HUBt3O/Od3vueRqMfjgrna4ulas1/b2ysFdLpemako9x9O6jZ4z593urmb/WqZSnvl4D1SMDC+3YNzbt7bCu3e0UbwfM26Xp/uVrOvxxi0tEREehnpeiz8qGfnloPzVNDZ7lC1ndGfVb//RFdUrReKzIebkRxIk2+W/Sqh51JKrOXfldgYighj5TLx1ayuffzO6M5Id3kFqX4RJsepHY7wwsBnu6ZyM9jrOX7OaVfBc/6vKgo9KURG4S8X8Inrb4Uvn6HD3ZL+mSH97ILo1ChycqeVdM2FVtu/vfmhZu6Qw0O9qeyxjHyyU5F9K5iMp1aNJAta93A/9Wzj7OnkOSLDmCZj+aApublsb/9IwgtIuwVno9hHR8Ub96bEU1KgSrb5UoP2QfiVX9R0JT7i/I/7f9xtNOvIVSu5nRaNmFB5vaEp9/HflQf8byV5jZUd4vHfgmVRjoq7UlkSEuVAos0raqAAdlIem1Mep8/mYvflYyS8U3JfeNS2+3NKuDr5Ysg/bjuZ4/F5vXwSr8i6lgZi/U/bLqJ64kF9oeCdQp+nZJAHL9pw0bH9hCm6CGrHR+OiedooXtSt5KdqhqGMfSpp3ujSsVm7CPacxrUbkwIEDGD58OBo2bIiKFSuicePGeO2115Cfn2/WIVXR067cKKGy7qWxjex1Xljk+7sErg1Qdx70BF9aX2DlR73oieTlv6+W/blnsFpXwxw96GrFzWPv3tEGN7WtrXtYsFMkV6uIrjoz2PAwV8gHIUBJvzcloz6UUvq03NKuTtlMsES+mFYjsnPnThQXF2PChAlo0qQJtm7diocffhjnz5/H+++/b9Zhbc0mtWCmkPturet4TvCmJPhSeo7s1hGsWPNcJ8o/d1enZFVNO+VYfP/pvd9dLhemPZqC6z9YjN3HzxmTqBBVITwMy1+8DodOn8dT09Kw9UhO4A8JYJemArKWaTUiAwcOxOTJk9G/f380atQIN998M5577jnMmDHDrENazi4PTe9miRjcupbfiYt8M+87TH6ws+eRLh/q//VVP5+KklOt7JVuzvc1LC4yYdK7MvaK3Qxjt6BUlEC3S2REWNn041okus3kakXe9+YtLfHxve0VN0UCwC3taus+7tY3BpT7nZPnTVFC9CNkaWfV7OxsVKvmu6o1Ly8POTk5Hj92pPUZNOvhjQgPw7ghHUyZuMibr6Gicg9qgtcU1KVbPHP9Vdj19iAfRzD7gTfnibPrEFLRGQzZj9aXatVKkZjxeHf8/v96GZwiea3qxOHmtrVVBZrNa8YG3igAJVO5++J+ZqtXts88Hb7YJbyyLBDZs2cPPvnkEzz66KM+t0lNTUVcXFzZT3KyeSuY6smgjcjcbVKZolrL2rHo0kBbu717IGbFhF9q6L0cWu+JYC9pGSHQs2JVrHXf5VkoezeTn5F38rDOsr9XxCEZQod6VdGidizvWgU+uqc9ujSohikPar8vQqUcofptMHr0aLhcLr8/O3fu9PjMkSNHMHDgQNx55514+OGHfe57zJgxyM7OLvvJyMhQ/40UCpULbDSXy4WvhnWS+b2Sz3r+v1FCJUXHlCTv1WLlr593EuRrKezVNGPXmhRNyn0Va15XVtX6vHpjC3w1tBPG+ehc3Ke5jtVwDfgSSmtc7XzPBVOA0zChEqaPSEFvBeuQhTrVdVDPPvsshg0b5nebRo0alf376NGj6NOnD7p3744vvvjC7+eioqIQFWVcz26zGFF4UTL8za7UNDH52/SPp3rh9Pl8pKQuCLi9kupZJdmrr1ntY1QsTiZ/bIMyd4PfER67s8Etl1A5Ek1qVMYLA5sH3vgyuzQvRVcIR18bz0diaV8Zt3vJqBVxjeCdf/yjZ0NMXLYfzw9Qfr/Zik3ufbOpDkQSExORmKhssbAjR46gT58+6NixIyZPnoywMHtVxxtJ6YvotvZ1cPJcnu3WnbGCd/AVFRGOWnGemZiiuUZc6l9OLw++Gl8t24+XbvDs0PvCwGZIO3RW9xBDmSlEhIirWAGnzvsYIm92GhVcvKtrxeLr4V1NToi17u6UjCSVSyU4nfulblKjMj4b0sHQ4cEex1JR8PHOF16+sQWeG9BM8/B6soZpw3ePHDmC3r17o379+nj//fdx4sSJsr/VrFnTrMNaSksB8z93tzM6GbpoWmrewmNd+ay+4vw/ejXC8J4Ny+1HycRlSphRGtXynac82AUv/rQZY24QUAL0OgUOrvRT5Z3bW+vviG7AyRI5iu+G1urWK1JD77NlaRBi8DUwuxktpXF1THygE6oJ7lhrWiAyb9487NmzB3v27EHdup4TMNlhuJ2eNDilg2ENJctWazgNmkcNafuYYoHWfjMzozasRsQl+0/FWteNw+9PWjOqIZB4FcMuncYpQVbjRHNqXu0ydYFVgvXr1o6viNo2aFozra1k2LBhkCRJ9scOqlcythrRbsFJw4RK+O5he1WBa+nQClxesMrPZx7q0RBNalTGbe3raE5bsPJ43hSc/9IRIdUr+S4hKbnTvxraCdUrG/OM2fElYJNszKdZI3vg3i7JePu28utQ2S2vcmfHa62Gw5MvTMiuNdOjSXU81rsxmtfUPsGPHQ1uUwsncvMw9eFuCNOwPLwSchmZz1VzPX4fOD0RvnqTuikZNXPlTfDqTfITudn9ZWFHT19/FRolVsK1V/nu6a/ktBrZqTPQdfSer8aJEvwEfkq5P13tkuN9Lnhp51Ez7rTkXqWLHOo1aVgnTF5+AEt3+1+fZ2DLmmhdNw7v/ZluyHFDVfD2Hg3A5XLhxYHNcUs7Y0rRRj3c797RBhUrhOPlwVdr+vy4+zpg+qMppgUhvihZaVNJaWe0itEUQUnwOyK6Qjju7lwPNR3U+fJ/D3URenw9zRRfDe2EXk0TZGsu7MyKmgstj0Kvpgn49L72mPv0NbqOcV3zJPzzhsB5cM24aIzsY0w/s1AWsjUiRjDjYWxTNx5b3xiA8DAX3v5th/EHMIDcELmeTRICfy7A36tVilS8mGAo1HbYdYp3X8kSdUlaGFQKFqHv1UmG1R7F6JgRVC27NkG4XC7c2Eb/NO8l+zJkN7qEQj4HMBCxJV/TqNtRjybV8bLCNW4CzZ3inG/tHMGakTVOrIS4ihVM64zpJO/f2RZfrzyAlxSU4O3OvXbJivyAeY49MBDRIojuXiujfl/H+vDudnhz9nZ88UD5GVuB8i9Tl8sepRV38TEVcPZCgf4deYyaMfhL2uyc6REe5sKMx3uIToYt3NGxLu7oWDfwhgYKllEz/uJ0f89fcrWKyDh9EYPbeA5bNvq0BGtBwhsDEVLN/WEz4kG5tX0d3NKutv/MzetPSo5r5TP8zfCueOPXbXgxBPq4WD3cz47vPDumSSkjAlwHf31NvL/vn09dg2PZl8rVyDVUuGwFeWIgYhA7D4mzC3/nSM/siXbQqk4cfhjRXXQyLNE2OR5jb2uF+tU8M12zhubb8Xo7mVNGzdhZTGSERxDyw4gUrD94BjcZ1D+lVKPE0AhsGIjo4LEQm0Mfbk0TmrkFFGo+b2Qp0plnWx2jS90NqxuXqQ3pWt+wfWnB4ITMpub569ygGjprXJXcn0aJlfHN8K5IqCJ25lOzhezwXTU+ube97SYHU0PrC62aj7kNPJpmVIQETq7OltOtUXXjd2r4ondXdmj2MMNg6TegRKgHQsFyqZ3wNXo2TUDzms4dGaYEa0T8WPDstdhyJBs3tqmFrJw80cnRTGumqaQDnJomKbMWxRJlZJ/GSKwc6Xfyr0CiI3yvg2F0JllR5wrDgdhl1mSyghNe4YH576xKVmEg4kejxMpoJDM8MFhKA4D+Re+U1Ij89Fh3XMgvRI0qzpkkS4moiHDcn9JA9efcVw8uN/Ece90TebiueQ3MSjuK5Gri10QhczAQIV2UvOg61q+q+xjuNS/uL3L/n7PnW9iF0OjjEsyCqTCihZXf/61bW6F9vaoY2Ercqu2h1OwoAvuIKBSo5B9spX2thqaUdGK8obW4TMPurAxCbr28EGCwranEQC50VImugKHdGyAplnlssGKNiAbusfGcp3rhYn6Rz46dwchf6eClwS3Qv2VN3bUg5Y955d8lFR2BX0VOL8UYkfxHr2mElrVj0b6esdeDyGyin1/PPEcCe42YhzUiOjWvaf9MXu3zXOfyhFV3dZLvrOreraGe19owkRFh6NEkAdEV9HeM7Hd5DY5/9Gqo6fN2bZqxUkR4GHo3q4G4ioEXJdRLydn2vl/Imax4JYt/fhl4WIU1IiFO7ln/9YmeCHe5EOdjRV33kkpkhHmx7Od/74CMMxfRMKES/rvigGnHsZrf/NXjb8GTEU59pBtmbTyCF0Jg5tlQ4PDKRtVEh0TBjjUiNvbEdcbM+6C0YDH1kW7430NdUK1SpM8gxEoR4WFlUybf26We4NSQHt0aVcc7t7expGbGChXCQzvrtGImaTs1zZC5WCNiY89cfxUWpZ/AliPZph3D/WHTMkGXVSUF75oXu601o4bfUT/M/BQRXW3fKKES7upUF1VDqG9YqEmofGXeo0Arh5M+DEQUEpHvuVwuJFeraGogQvbFvM++XC4X3r2jrehkCJMUG4XMnEuik6Hb4Na1MMVHs29cxQr4eWQPREaEIdx7vh8yVGjXL2pkZZUhF9OTV0fBCrB2PXPC++AR6fTxve3Rs0kCvv2Hc5e+AIDRg5rjo3va+fx72+R4XF0ruKdXtwPWiNicEYvpBWPJ+uFrGiEz5xL6t/Q9X4nT3/d2uGx2m7uhSnQEci8VokeTBNFJCWn1q1fCNwKDkEaJlbDvxHnE6Fy2ILpCOG5pVwcvzdyKc3mFBqWO1GIgopDTX2rBJrpCOMbe1lp0MkzVIEH8EuA3ta2NrUey0blh4JVFrajp+ePJXvhrexbu6pxs/sHItiYP64wP/9qNEdc2Fp0UMgADEZv7W/u6+H1LJq5KKr/mjVJsCnCmq5Kq4Iv7OwqtlQgPc+HlG1sIO763ulVjMKyHtnllKHjUr14J/7m7nWH7s0PtYyhjIKKQqBu1X4sk/PnUNaZNBBWMD2BkRBjyC4vRvbH6UUB246/pyW6CsQkwGCVWDq5VsMn5GIgoJLJSoZmJ64To/V52rG2Z/8y1WLzrBO7oKD8zLJnDjvcClfevv7XGCz9uxkOsWSrDW1csBiIaOK3gF2ol1eRqMfh7t/qik0FkS7XiKuLr4c4e7ULBhcN3SRcrg5yXB1+N6pUi8eYtLa07KBEJYWX5KcTKarbDGhGFRM/kaFdWnpZ/9GqE4T0bCp/6mYiIjMMaEQ2c9h4MphiKQQhRaEiowk61oYI1IhoE04ud7OGezsmYujbD0fMi8LEgI3z3cFfkXCxUNHsyBQcGIgrVjquI9vXiERURpns2PzvRW7+QUJmLfhnhndvb4PWbWyK6QvDcW0RadG9s/ay593WthwlL9qEnZ+wVgoGIQmFhLsx4rDsA5zUPuCf3FYMmp/psSAf8tuWYo0vwdsMghEiM5wY0Q48mCehYv6ropIQkBiIqOC0AkTO8pzFzB9zQuhZuaF3LkH0R+RMfU0F0EijIVQgPwzVXJYpORshiZ9UQx3Z9srv372yLjvWr4ssHOolOChGZgIFICGDnWrLCre1qAwAaJxq7WF/96pXw02PdcX2LJEP3a1fVKrHfFYUWNs0QkSGua14DfzzZC/Wrm7MuUqj4ZnhXvDV7O54f2Ex0UogswUAkxDm/1wvZhcvlwtW1YkUnw/Fa1I7F9490E50MIsuY2jRz8803o169eoiOjkatWrVw//334+jRo2YekmQEQR9bIiIKUqYGIn369MH06dORnp6On376CXv37sUdd9xh5iGJiIjIQUxtmnn66afL/l2/fn2MHj0at956KwoKClChAofkUWhqUSsW24/loEoUW0aJiCzLCU+fPo1vv/0W3bt39xmE5OXlIS8vr+z/OTk5ViUvqHHUjL18ObQTPl2wB8N7NhCdFCIi4Uwfvvviiy+iUqVKqF69Og4dOoSff/7Z57apqamIi4sr+0lOTjY7eUSWqxNfEal/a40mNaqITgoRkXCqA5HRo0fD5XL5/dm5c2fZ9s8//zw2btyIuXPnIjw8HA888AAkH0X0MWPGIDs7u+wnIyND+zejMv46qzZKrGxdQoiIiLy4JF9RgQ8nTpzAqVOn/G7TqFEjREaWn5Tn8OHDSE5OxooVK5CSkhLwWDk5OYiLi0N2djZiYzksUKt7vliJVftOAwAOvDO43N+P51xCVEQ44jiVNhERGUDN+1t1H5HExEQkJmqbk7+4uBgAPPqBkHg1YqNFJ4GIiEKUaZ1VV69ejbVr16Jnz56oWrUq9u7di1deeQWNGzdWVBtCREREwc+0zqoxMTGYMWMG+vbti2bNmmH48OFo06YNFi9ejKioKLMOSzI4aoaIiOzKtBqR1q1bY8GCBWbtnoiIiIIAV98NAZzinYiI7IqBCBEREQnDQISIiIiEYSBCREREwjAQCQEcNUNERHbFQISIiIiEYSASAjhqhoiI7IqBCBEREQnDQISIiIiEYSBCREREwjAQISIiImEYiBAREZEwDESIiIhIGAYiREREJAwDESIiIhKGgQgREREJw0AkBHRrVB0AZ1glIiL7iRCdADLfY70bI6FyFK5pmig6KURERB4YiISAqIhw/L1bfdHJICIiKodNM0RERCQMAxEiIiIShoEIERERCcNAhIiIiIRhIEJERETCMBAhIiIiYRiIEBERkTAMRIiIiEgYBiJEREQkDAMRIiIiEoaBCBEREQnDQISIiIiEYSBCREREwth69V1JkgAAOTk5glNCRERESpW+t0vf4/7YOhDJzc0FACQnJwtOCREREamVm5uLuLg4v9u4JCXhiiDFxcU4evQoqlSpApfLZei+c3JykJycjIyMDMTGxhq6bzIPr5sz8bo5E6+bM9nhukmShNzcXNSuXRthYf57gdi6RiQsLAx169Y19RixsbF8wByI182ZeN2cidfNmURft0A1IaXYWZWIiIiEYSBCREREwoRsIBIVFYXXXnsNUVFRopNCKvC6OROvmzPxujmT066brTurEhERUXAL2RoRIiIiEo+BCBEREQnDQISIiIiEYSBCREREwoRkIDJu3Dg0aNAA0dHR6Nq1K9asWSM6SSFlyZIluOmmm1C7dm24XC7MmjXL4++SJOHVV19FrVq1ULFiRfTr1w+7d+/22Ob06dMYMmQIYmNjER8fj+HDh+PcuXMe22zevBm9evVCdHQ0kpOT8e6775r91YJWamoqOnfujCpVqqBGjRq49dZbkZ6e7rHNpUuXMHLkSFSvXh2VK1fG7bffjqysLI9tDh06hMGDByMmJgY1atTA888/j8LCQo9tFi1ahA4dOiAqKgpNmjTBlClTzP56QW38+PFo06ZN2eRWKSkp+OOPP8r+zutmf++88w5cLheeeuqpst8F1XWTQszUqVOlyMhIadKkSdK2bdukhx9+WIqPj5eysrJEJy1k/P7779JLL70kzZgxQwIgzZw50+Pv77zzjhQXFyfNmjVL2rRpk3TzzTdLDRs2lC5evFi2zcCBA6W2bdtKq1atkpYuXSo1adJEuvfee8v+np2dLSUlJUlDhgyRtm7dKn3//fdSxYoVpQkTJlj1NYPKgAEDpMmTJ0tbt26V0tLSpBtuuEGqV6+edO7cubJtRowYISUnJ0vz58+X1q1bJ3Xr1k3q3r172d8LCwulVq1aSf369ZM2btwo/f7771JCQoI0ZsyYsm327dsnxcTESM8884y0fft26ZNPPpHCw8OlOXPmWPp9g8kvv/wi/fbbb9KuXbuk9PR06Z///KdUoUIFaevWrZIk8brZ3Zo1a6QGDRpIbdq0kZ588smy3wfTdQu5QKRLly7SyJEjy/5fVFQk1a5dW0pNTRWYqtDlHYgUFxdLNWvWlN57772y3509e1aKioqSvv/+e0mSJGn79u0SAGnt2rVl2/zxxx+Sy+WSjhw5IkmSJH322WdS1apVpby8vLJtXnzxRalZs2Ymf6PQcPz4cQmAtHjxYkmSSq5RhQoVpB9++KFsmx07dkgApJUrV0qSVBKAhoWFSZmZmWXbjB8/XoqNjS27Ti+88ILUsmVLj2Pdfffd0oABA8z+SiGlatWq0sSJE3ndbC43N1dq2rSpNG/ePOnaa68tC0SC7bqFVNNMfn4+1q9fj379+pX9LiwsDP369cPKlSsFpoxK7d+/H5mZmR7XKC4uDl27di27RitXrkR8fDw6depUtk2/fv0QFhaG1atXl21zzTXXIDIysmybAQMGID09HWfOnLHo2wSv7OxsAEC1atUAAOvXr0dBQYHHdWvevDnq1avncd1at26NpKSksm0GDBiAnJwcbNu2rWwb932UbsPn0xhFRUWYOnUqzp8/j5SUFF43mxs5ciQGDx5c7twG23Wz9aJ3Rjt58iSKioo8LgwAJCUlYefOnYJSRe4yMzMBQPYalf4tMzMTNWrU8Ph7REQEqlWr5rFNw4YNy+2j9G9Vq1Y1Jf2hoLi4GE899RR69OiBVq1aASg5p5GRkYiPj/fY1vu6yV3X0r/52yYnJwcXL15ExYoVzfhKQW/Lli1ISUnBpUuXULlyZcycORMtWrRAWloar5tNTZ06FRs2bMDatWvL/S3YnreQCkSISL+RI0di69atWLZsmeikkELNmjVDWloasrOz8eOPP2Lo0KFYvHix6GSRDxkZGXjyyScxb948REdHi06O6UKqaSYhIQHh4eHlehZnZWWhZs2aglJF7kqvg79rVLNmTRw/ftzj74WFhTh9+rTHNnL7cD8GqTdq1CjMnj0bCxcuRN26dct+X7NmTeTn5+Ps2bMe23tft0DXxNc2sbGxLFXrEBkZiSZNmqBjx45ITU1F27Zt8dFHH/G62dT69etx/PhxdOjQAREREYiIiMDixYvx8ccfIyIiAklJSUF13UIqEImMjETHjh0xf/78st8VFxdj/vz5SElJEZgyKtWwYUPUrFnT4xrl5ORg9erVZdcoJSUFZ8+exfr168u2WbBgAYqLi9G1a9eybZYsWYKCgoKybebNm4dmzZqxWUYDSZIwatQozJw5EwsWLCjX7NWxY0dUqFDB47qlp6fj0KFDHtdty5YtHkHkvHnzEBsbixYtWpRt476P0m34fBqruLgYeXl5vG421bdvX2zZsgVpaWllP506dcKQIUPK/h1U183SrrE2MHXqVCkqKkqaMmWKtH37dumRRx6R4uPjPXoWk7lyc3OljRs3Shs3bpQASB988IG0ceNG6eDBg5IklQzfjY+Pl37++Wdp8+bN0i233CI7fLd9+/bS6tWrpWXLlklNmzb1GL579uxZKSkpSbr//vulrVu3SlOnTpViYmI4fFejxx57TIqLi5MWLVokHTt2rOznwoULZduMGDFCqlevnrRgwQJp3bp1UkpKipSSklL299LhhP3795fS0tKkOXPmSImJibLDCZ9//nlpx44d0rhx4zgMVKfRo0dLixcvlvbv3y9t3rxZGj16tORyuaS5c+dKksTr5hTuo2YkKbiuW8gFIpIkSZ988olUr149KTIyUurSpYu0atUq0UkKKQsXLpQAlPsZOnSoJEklQ3hfeeUVKSkpSYqKipL69u0rpaene+zj1KlT0r333itVrlxZio2NlR588EEpNzfXY5tNmzZJPXv2lKKioqQ6depI77zzjlVfMejIXS8A0uTJk8u2uXjxovT4449LVatWlWJiYqTbbrtNOnbsmMd+Dhw4IA0aNEiqWLGilJCQID377LNSQUGBxzYLFy6U2rVrJ0VGRkqNGjXyOAap99BDD0n169eXIiMjpcTERKlv375lQYgk8bo5hXcgEkzXzSVJkmRtHQwRERFRiZDqI0JERET2wkCEiIiIhGEgQkRERMIwECEiIiJhGIgQERGRMAxEiIiISBgGIkRERCQMAxEiIiIShoEIERERCcNAhIiIiIRhIEJERETCMBAhIiIiYf4/FqaFZAWeQdMAAAAASUVORK5CYII=",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(sig_b)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "5adb71eb",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x21c4f82e7c0>]"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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6dGm1VSovL0/Z2dkOXwAAoH5yK4xkZmaqqKhIERERDtsjIiKUlpZWbZVKSUlRcHCw7SsqKqrajg0AAGqXWjmbZurUqcrKyrJ9HThwwOwqAQCAGuLlTuGwsDB5enoqPT3dYXt6enq1Dk719fVlfAncYphdAQBAlbnVMuLj46PevXsrNTXVts1qtSo1NVUJCQnVXjkAAFD/udUyIknJycmaMGGC4uLi1LdvX82aNUu5ublKSkqSJI0fP17NmzdXSkqKpOJBr1u2bLH9/9ChQ1q3bp0CAwPVrl27anwpAACgLnI7jIwZM0ZHjx7VtGnTlJaWptjYWM2fP982qHX//v3y8ChtcDl8+LB69uxp+/6ZZ57RM888o8GDB2vhwoXn/goAAECdZjEMo9Z3t2dnZys4OFhZWVkKCgoyuzqoJXYfPaGhzy6SJG36x3AF+rqdrQEANaiy1+9aOZsGAABcOAgjAADAVIQRAABgKsIIAAAwFWEEAACYijACAABMRRgBAACmIowAAABTEUYAAICpCCMAAMBUhBEAAGAqwggAADAVYQQAAJiKMAIAAExFGAEAAKYijAAAAFMRRgAAgKkII6gXDMMwuwoAgCoijAAAAFMRRgAAgKkIIwAAwFSEEQAAYCrCCAAAMBVhBAAAmIowAgAATEUYAXDODMPQzf9Zqfs+Wm92VQDUQYQRAOds99Fc/bA1Qx+vPuiyzMLtGbrs+cXadCjrPNYMQF1AGAFwzqyVWAH3hjdXauuRbN38n1XnoUYA6hLCCIBqVdHS/NmnC85TTQDUFYQRANWqKrcJysg+zf2FgAsYYQTAObOcw75vL92nvk+m6qnvtldbfQDULYQRANWqovaNsxtApn+xWZL0ysLdNVOhCtAiA5iPMAJUs7veX6sRs36W1cpFrjLO549p8+EsXfrcIi3Yki5Jmrtkr+KfTNWeoyfOXyUAlEEYAarR8ZP5+nL9YW1Ly9FP2zPMro4panNLw61vr9bOjBO65b/FM3oe/2qLMnLybK0zJeat2K8PVx4wo4rABYkwAlSjozl5tv+fyCs0sSbF/vPrPo2fu0KnC4rMroopUrem64rZv2hXRnHLR85p5+fEfmpy1qkCTflkox743wadzK+5c/jp2oMa9NRP2p6WI0nal5mrN3/ZW+ZcLd/zu95YsrdWhzzgXHmZXQGgPqltPTMln/j/b8EOBQd469o+LRXawKdGn7OiH8GpgiJl5JxWeEO/csv9d+k+HT9ZoLuHtpck5eYVqoGv87esTYey9KcXl8jLw6Lv7xmkNk0CJUk3nVnTZPIHa/XVXQMrVf88uzBQUGhINfTjuueD4tVqkz9cp6/vHqghzyyUVBxoHxgRYys35rVlkqToxgEa2imiZioDmIyWEaAaGRVeimvOR6sO6KUfdzp97NWf9+ip+ds1+YN1ZR6zWg3d++F6vbro/A0gfSHVeT3tTft8s55bsEP7MnM164cd6jL9O323Oc1p2RvfWilJKrQauvm/ZRdVO36y/LVNNh7M0o1vrdSO9JxK1L565RdaHb5fsfeY03L7fj95PqoDmIIwAlTCkp2ZmlKJZnv7lvRnvt+uT9YcVM7pAv178R4dOn6q3H3Ts08rPft0me35hVZ9suagjmSV7l9YZNXXG44ow678/R9v0DPf79C2tGyXz/HzjqNatOOow7ale37X/9YcVMq328qtX3kmvrfG9v//rT6ojJzSeuUXWnUsN9+hfGGR89C2ct8xJX+4Tv/4snQMx4m8Qs36oTi8PPLZJtv2P3Lz9fm6QzpdUKSsU6VhY8/RXG04eNyhW6Pkv/bl7LvRsk8X6sdtGRr/xooyddp4MEvzNx2p0W6S1b85DyD29mXm1tjzu3Iyv1AvpO4s93cKqA5006BeqOn2iOvfWC5J+ml7hpY/lOiynP3YgwPHTin5w/W6smdzfbr2kOYs2qNVjzjfN7/QqvgnUyVJd13STv4+nrpjSDtJ0uuL9+jp77argY+nNj8+QpL01q/79M+vtyrIz0trHr1Up+y6FrJPlR+YJsxdoYHtw/TauDhtOZKtsf9eXomfQPl2pJfORpnyyUZFhfpr8QOXSJJGvrDYNmajItfMWVpm2z+/3uK07Li5y7XpULbGJ7Qq89ifX/pFT4zuWu5z7XZSp7Ts02V+ly5/aYnt/2/e0EcXx4Tr+Ml8+Xh5KMCnet5CF24vDYiufpffXvabHvlTJ/l6eZZ5bMGWdDUN9lPX5sFO9332++1qHuKva/u2rLAuh4+f0sp9xzSqW1P934Iden3x3uIWqpmjKvVagKogjKBeMKzSO8t+U8+WIerSzPkbcnVIz84r93FnH54X7yy+0GSecL1vjt0S6S/+uEuSNO6iVmro521rycjNL1KR1VBGzmn9uK14pk726UJd/tIv2nqk9JOrpRIrkC3eman/Lt3ncqGxg3+c1KIdR3VVrxby8y578avIgWOnlH26QO8t3+80iFSmjiWW7SltNTiak6e8wiL5enlq06Hi1/z5usNO95tTA+uWJL21UhseG6bYxxfIy8OiXU+OdFm2+HUbahfesNxj7sw4od8W7bF9bxiGrpj9i3JOFyg1ebBD2ZzThfINdDwfWw5n22YH7Zs5SnmFRdqbmauOEQ1lsVi06VCW7XeqMmFkyNMLlV9U3Jq1/iA3NcT5QTcN6oUvNxzWI59t0qgXllRY1mo19P3mNIduD7NZnFyd+85I1RtL9jqMIUh6a6USUn7Ur7t/t22zDyJS5VdDLQk3zgz41096+NNNmumk68YwDCV/uE4p32wt9/iu9pek91cc0OmCoip1fTzxlWNLiatj2HeLOZtNVGi1ltlWGduO5JzZ33Xd8wqLlPjcIiU+97PtubNOFei+j9brl12ZZcrnF5XWZc3+41p/4Lj2HM21DV4tz267NVKyTxdo3BsrNGLWYn269pDted1RUpfFOzMdfpc2HszSl+udB7+qOJVfpOV7fleR1dAHK/fro1VMpb6QEUZQKxiGoX8v3qOV+yruO/9pW4YufW6R9tsN6Fuz/49KP9eXGw7r72+vVkLKjy7LHD5+qsIbuq3Z/4d2Hz2h5Xt+V/SUr/XoZ5uctoxknigdL7Ero/IDJE8VFJW58P581ngPZ0oChqugYVOJIPDWr/vKbNuZcUKfrDmkV3/eo193Z7ocR+Psomsv5tH5ttku7nhn2X6H77NdTNe193tuvt5eus9h2xcuWlSqg/15e/jTTTpdUKSnv9umj1cfdKtbzNVgVldmfLXVts+7y/dXULp8q/Ydc/gduvylJbrr/bVae+ZvbVfGCfVLSdU7y36r0vFv/u9KjXltmWZ+u1UP/m+j7v+4ZqdSo3ajmwZV8kLqTh3Lzddjf+5yzsfacjhbn68rvrhJqrBvOunMzImSfyXpkzWHKvVc8zeladK8dU4f+3DVAW06lKVR3ZraPpHumznK6QyLL9Yf1t3vr3XY9vay39S9RfldRP/59bcyYxl2ZZzQqkqEsMoa89oyzRoT63TmjL3vz6xC6i772R9/e325wgJ9nZbLrsQn8pLupnOVV1hxK8ejnzsubOZqzRF3ZZ8u0KwFO/Xn2GaKjQrRqfwih8D0vzUH1aZJAx04VtpSM8PFOJiqeNmuO2r9weNlHrdv3fhlV6b6tW3stCXuwLGTiggqnW6dfbpQq34rG/L3HM1Vz5aN9PCnG3U467Qe+WyTrr+o7LgdZ/7IzdfDn23U0Zw8rdxXfOzXF++1Pb71SI52ZeTIz9tTfVuHqmmwv6Tili1vTw95epTW2zAMHcvNV2MXv3+oWwgjqJLnFuyQJI1LaKUXUnfqZH6RXhvX2+mbXEVGvrC4zLbffi+eOdCqcQNJxU3EPl4e6hhZfv97ic2Hs+Tj6aH2EQ11uqBIn6w5pCEdm+i2d1Y7lPt5x1EN6tBEkvTAxxskSf9d6vhJ7zonTeVnB5ES9585RmVYrYZe/HGX/u+HHZXep7IqCiKStC2tbMg6fjK/wnN49sOuxsKU141xrq565dcaO/Y9dj+7IietR1M+cTzHT83fpneW7dfcX/bq0s4RetBujZASP2xNV5Cft+17+wvwuTiWm+/QTbfnaNkZN5+tKw3qY/+9XM9fG6srYpvbtj33/Xb9b80hHTp+Sj0qCNNS6fmv6PwePn5KBUVWtWrcQFaroce+3Fzmb+ts9ufV39tTW58YoVP5Rerxj+/VItRfP947xPb4w59t0nvL9+vVcb01vEtkhfVG7UYYgdv+vbh0sF32qQLbAMKDf5xSVGiAjubk6ZddmbqsW6TTkf8VySss0uCnF0qStv9zhPIKrbYZDXvKGTBYYsXeY/rrq0tt5e/9cL2+3njEadnxc1eU2xKz+XCWfj9rWmp1ufE/Kx1mUdQGsY8vKLOtZMBoCY8qBM7qttrJJ3Z3ncx3viqt/XicXk+U/XmcfcG3n0m0YEu6spysabJ2//Eq1rJ8n69zbBG0H3siFbc6frjqoMO2T9ce0rI9v2tUt2aKCvXXC2cGt0qq1IDVP04W6Nnvt+u3ctY9MQxD/WYWd4O+fVNfzVm0W7/s+t1leWdKZoitP3hc+UXWMj/39850Qz33/Q6HMHK6oEi3/HeVBndoopsHtnHrOWEewggqJa+wSF+tP6KXF+7Sbrs3hXkrSgedlXyI7DPjB0nS1iNtdM+lHcqdjeFs8KF98/mJ04UO60Gc/WbrTEkQkYo/vbkKIpXhbEDsaz9XfZZGyaBJwzBqXRBxpeMj87X7yZHacPC4juXm6/0V9WOg4XwXC6i541G7dU9KHK7BgdHWs/5eVu0rP5RN/6Js/Up+76p6Hs8exyRJBUVWeVos2nX0hNqHBzq0moxzsnaLO9yNvh+tOqDFOzO1eGemkvq3lqeHRYVFVnl5uh4iuWzP79p99ITGxrfSr7sydTK/SImdWe32fCKMQJKUdbJAf/v3Mv25RzPdOritw2PZpwvUd8YPOl1QNgh8YDcCfu2BPxzeLF/9eY9eX7xHL4/trelfbNK/ruquuOhQjXl1qRI7ReieSzs4HUNpP2L/f2sOKi461PZ9zKPz3XpdZ795OxM95Wu1DmtQ6WM++U3VFwd7f8WBOnkx/+Nkvq58uea6Ruqqt5f9Jp+zLnIH/6i5MDLoqZ/UNNhfgzs00T2JHSoM2jsrub7Lufpm4xH9vCNT/1tzUJfEhCupf3S1HNcwDH27qTQ0frjqgLo2C1bnZkG2bacKinT8ZL5CAnyUlnXaYWzQeyv2q1GAt+58b61eHttLI7s1dfo8157pim3cwNfWlfvGhDgN7tCk3BBTnQ4cO6l/zd+mWwe1VbdKdJfVNxajDtx9KTs7W8HBwcrKylJQUFDFO9RjhmHIMCQPj7KfF/ILrbrpPyvVNzpUd525n8eRrFOKaOjntLy9p7/bptk/FX/iL+m2OHDspLal5Sg3r7BSYxAq4+GRnTTjzJTQvSkjZRhSm4e+qZZjA3DUKMBbf1SwFH5dtG/mKEVP+dph2/rpw/SPLzc7DGYfGhOuVLtB0q66ZEuOdcvA1g7jeS5qE6p5f09Q9ukC5RVY1aRhzQ2WHfXCYm0+nF1uPeuiyl6/aRkx0aHjp/Tqot1K6t/a4ZN5kdXQtrRsdYoMsoWIlG+2qklDXy3acVQHjp3UN5MG6tuNaUpo21jNQopHnH+98bCtefKuoe01f1OaLeV3bR6kvUdzddvgtragYq8kiEjSTW+t1KbDWRUu8FUVR+0GO64/mKVuLlaMBABXnH2G3nwoSyfzHMcBbTxUdgzM5sNZ2puZqz7RoQ6zh6SyA4tLFtzr/tj3kqT104YpOMDbocyRrFNKSPlRNw9orUf+1NllfW98a6UsFovm3tDHaRlng49LFBZZ5WGxVPihsi4jjJjo1rdXadOhbH27KU0rHy5dJnz6F5v0zrL9um1wW93YP1qTP1jnMKhOku54d40Wbj8qP28PbX18hHLzi8p0o8z+qXRgWslqlc8u2KHbhrTVP7/aokKrUbzw0FlrGaRW03RLZ177uXTw656jJ9S12YXd0gXUpPrYKiI5Dhou8e7y/WXGAWXkOH6gevKbrQ7vQRMSWml8v+jKP29GjvrYdRtLsq1X9O8le3Xf8I62MXL5hVbd/N9VuqhNqHq3bKSfzozVWbH3mPq2djyGJIdbOvz2e65uf2eNbh3cRiO7NdUlzy5UaANffT6xv8M+pwuKtHB7hvq1C3OYrVUXEUbOs99+z9VXG45ofEIrW0A4mpOnA8dOKio0QDmnC2xrFMxZtFtv/brX6ViNkkFopwusaj21bDdHnxk/6GiO85aN91fs138qmGJ3PiR/uN7WLAkAleVskHBlBqrbBxFJ+s/S3zRvZeXHcLm6wWOJmEfn662kPgoL9NX2tBz9vOOow/IBUvGtFkrCiGEYyiu0OtwYUpKm/G+jthzJ1qR569QuPFAHjp3SgWOn9PHqg7q6dwtbuSe+2mJb3G7PkyPrdMsJY0aqydcbjujFH3fq7ZvinfYrWq2GftmdaRtZfnXvFvp4teOUu5fH9tId764psy8AwBzb/zlCHR8pHTh/bZ8ozbyqu6TimXXuDmh/cESMbh/SVusOHNeNZxZuPPuu1uXZmzLSthZQh4e/tc0w/OforpVefO58quz1mzBSgSKrocPHi9fPcGbt/j+0eGembREwyfngow9XHbAtqgUAuHC9d0u8Zny9tUotw99NHqTFO48qIyfPoaUnoU1jTbu8s176cZdGdmuqEV0jdc8H69Q02E9TR3aqzuq7hTBSTW5/Z7W+3ZSmV8b20mXdmup0QZEKrYaS3lxhW874bI9d3lnb0nJ0Ve8WTm+JDgC4sAX7e7t9E0NJuiQm3OltFMICfRzug2XPzNk5hJEqKjzT5FUyt9x++tjo2Gb6rAZvrgUAQHX7bGJ/Ld5xVP9bc1Af397P5f2kakJlr99VWs1l9uzZio6Olp+fn+Lj47ViRfkr7H300UeKiYmRn5+funXrpm++qZ3rSry9dJ/aPfyt2j38re0urPYIIgCAumb07F/07IId2vf7ScX98wdlny7Qqfwip1OkzeJ2GPnggw+UnJys6dOna82aNerRo4eGDx+ujAzn00F//fVXXXfddbrpppu0du1ajR49WqNHj9amTWWXKTbD7yfyFD3la9330foyd/V8u4q3xgYAoLbq/tj36jRtvlpP/UaT5q3VpkNZKqrBG1tWhtvdNPHx8erTp49eeuklSZLValVUVJTuuusuTZkypUz5MWPGKDc3V1999ZVt20UXXaTY2FjNmTOnUs9ZU900+zJzNeSZhdV2PAAA6qJuzYP15V0Dqv24NdJNk5+fr9WrVysxsXSBLg8PDyUmJmrpUucDNZcuXepQXpKGDx/usrwk5eXlKTs72+GrJhBEAAAoXq128+GK79pcU9wKI5mZmSoqKlJEhOPdDCMiIpSW5vwOmGlpaW6Vl6SUlBQFBwfbvqKiotypJgAAcFOWiSv2np/bEbpp6tSpysrKsn0dOFAzdzndmzKyRo4LAEBdcvcl7dSvXZhpz+/WcvBhYWHy9PRUenq6w/b09HRFRkY63ScyMtKt8pLk6+srX9+an3pksVhs8683H87SqBeW1PhzAgBQm3xxZ391bxFiah3cCiM+Pj7q3bu3UlNTNXr0aEnFA1hTU1N15513Ot0nISFBqampmjx5sm3bggULlJCQUOVK14QuzYK15tFLFeDjqU/XHtKbv+x1ejMmAADqoh5RIRrWOUK3DGwjSfKwlK6pZTa3b5SXnJysCRMmKC4uTn379tWsWbOUm5urpKQkSdL48ePVvHlzpaSkSJImTZqkwYMH69lnn9WoUaM0b948rVq1Sq+99lr1vpJqENrAR5J0Xd+Wuq5vS63cd0xfrT9cK24qBwBARa7r21Lvr9hfZvur43preBfXPRJmczsSjRkzRs8884ymTZum2NhYrVu3TvPnz7cNUt2/f7+OHCm9e2K/fv303nvv6bXXXlOPHj308ccf67PPPlPXrl2r71XUkD7RofrHFaX17BARaGJtAACQxsa3dLr9pb/1VMpfumndtEsdtl/aOaJWBxGJ5eArpWRJ+FsHt9HUy4pvOHT4+Cn1m/mjrUz3FsHacLBq06JWPpyotfv/0N/fXn3ulQUAmGLdtEsV+/iCGn2Okrv+2t+q5K5L2unOS9rJ18uztC4Hjuvw8VM6cbpQI7pFKsjPu0br5UqNLgd/oUm9d7CmXhajyUM72LY1C/HXs9f0kLenRd9OGqgv7qzcYjFeHhaH7+dc30tNGvqqabB/mbK+XuWfni8r+ZwAgJoXEuCjqNCy7+Xl2fbECNv/e0SFaP30YVr1SKI8z7pWSFIDH09N6NdKkjT1shg1C/bT4gcu1r3DOjoEEUmKjQrRyG5N9dc+UaYFEXfQMlKNSpKqp4dFRVZDsVEh+uT2flq+95i6NA9SUZGhRg189MuuTH246oDuvLid2kc0tO0/ed5abU8/odGxzbRy3zG9Oi5Ov+zK1AMfb9DjV3SxtZx4WKTlDyWqSUNfh3R8tlaNA/Tb7yclFXcxWWTR9vScGvwJAEDtdv/wjnr6u+3VftxVjyQqLNBXpwuKtGrfH7r+jeUV7nNj/9aadnlnZZ0skKenRYG+pcM4DcPQ+LkrtOFglhI7RWhyYntFhQZUe71rGnftNcH8TUc0b+UBPXtND/l5e8rf21MeTtJtVRUUWWU1DHlYLPJ2clfhs+2bOcr2+BOjuyqsgY9uf3dNuc/x90FtFN24gU7mF+qmAa3VemrZmxr6e3sq9d7BSt2WUeZmggCq18qHE9Vnxg9mV6PeWP1Ionr/072f54B2YUrqH605i3Zr5b4/nJYpWSaixHeb07Tmtz/06s97JEmDOzTRnZe00+8n8nTbO8Xvw49f0UXjE6LLfW7DMGSxVN915Hyjm8YEI7o21VtJfdU40FcNfL2qNYhIkrenh3y9PG1BRJKWPzRUD4/s5HKfzyf214MjYnRdnyhV5vf5oZGd9Lf4lrp5YBtZLBY9f22sLu7YRHcMaSupuIUl9d7Bahbir3EXtVLLGk7qfx/Uxvb/YP/a39QIVLcmDX21+IGLza5GpV0R28zsKpSrcaD7a1iN6t5UQztF6MERMY7buzWVxSKNu6hVmX2Gd4nU1JGdNDmxvdqHB+qFa3uqT3SoRnRtqm7NgyVJwzpXPKi0LgcRd7g9tRe1S0SQn24e2FrfbDqi9uGBenBEjF76aZfuGNJOUnEfZI+okHKPEd7QVxk5eeravGxqvSK2ua6IbS5JSurfWk0aOv4hz588UIf+OKX2EQ3V7bHvlHO6sHpe2Bn3Deuo1858svjvjX11xexfqvX4F4qJF7fV7J92m10NVFFdap5vVU5d41uHavneYzX6/FGh/jpw7FSlyj5/baw2H87WwPZhatskUFsOZ6t9RKAGP73QoVzJB8DerRoVj+s4cFzf3zNIHSIaqshqOB3fUWJyYgdNTuzgsO2zif11Mr9QDevAWI7zhZaResBisejTO/rrqat7qHGgr6Zf3qVMaDhT0un+TYP9tOGxYfp8YvkDYp0dM8DHyzbuxb7Db3iX4qneV/du4fJ4C+8bUu7zvXdLvENrTlX7E+f9/SI9fkWXKu59bqb9qXOlyw6NCa+ROvRoESyLk3P//T2DauT5UDs8Msp1i2lNKiqn5z/lL90qdYy7h7ZX9xbB5Za5uGMTp9snnvkgViK0gY++v2eQwgJ99djljn+PXh4eemhkJw1s30TNQvyV2DlCrRo30Prpw/TidT1t5do2aSCp+L3284n9tW/mKHU4875XXhBxxdPDQhA5C2HkAtKlmev+uiA/7yr9Udmz2r0Jzbm+t7Y9MULPXNNDsS5aZqLDGpTZ9qfuTW3/T2jTWB52acTq4k3u7qHtHQZ+tQsPVHTj0k9nF7VprCEdauZCX5Gr41yHsbO9cn1vjU8o29x7rt675aIy2/q1bWx7M61tXhvX2+wq1As3D2xTcaEzwqrQdeGK1e7P9NM7+umpq7vbvm/TpOxaTd9OGmj7v7enRd/cPVDJl3bQF3cO0JtJfRQT2VBfObm1fUzTIL06rrfaNmmgR0Z1UqCvl577aw+N6t5Ugb5eatU4QH+Na6EPb01Qh4iGWvnwUN3Qv7XDMRo1cB4Igv29dXmPZvrqrgGa/bde6tmykbs/BriJMHIBiQoN0Nd319x0YPuwYLFY5OddPNXs5bG9FBnkV+6+N/SL1mOXd3YYI2KxOH6ePzuLvJXUR3Ou763kSztow/RhemRUJ/VoEazXxvW2dVNVlqtFhOxdc1YrT1igj968oY86NXUe8qZf3llBft6VHuvi4+Whvq1DK1XWHQ18y/bGVufFp7oNq+WLM0nSwyM7VXq81BsT4tw69vtOwqMz3p7VN5bgw1sr95yVYf8+0LNlI4U7baUtZf/30yYsUJ3tPjRd3DFc8ycPUtfmwbp1cNlwNbxLpFLvHaKbB7bRhunD9JdeLdTQz1trp12qhfcN0VNX91C78OIAZD/24vlrYzXx4rZKaNO43Lp1bR6sUXYfkFBzCCMXmC7NgvXFnf31/LWxij9z4RsbXz2fxq0uWmebhfhr6dRLNPWyGA3rXNx9c+NZn1DahQfqhv6t5XPW2iqOY7dKn+Clv/XUkI7hGtG1+MLl4WHRzQPb6PM7Bzj99GV/nDZOWmTK+xTZ0NdLz18bqydGO64avOqRS3VxTLgCfT2d7pfYqfi1vntzvMtjl6dkkFt1sH/9l8SE61E3uo9qypNXdtMvUy4p03Re0/q2DtXtZwZkV9XNA1tXuiXRneA3aWh7JbQt/wLp5+2hZVOHauvjI3R5j/IHi17XN6pSz+vsb6aq4s8hUBvldMZOvayTlk69xPZ902DHDzj2Ewa8PT3KHfh5RWxz3T885oIZHFoXEEYuQN1bhOiK2Ob6z4199fXdA3SNG10J5bnr4uLWiL/0bF7mMYvFolsHt9Vr4+O08bFhmnbmApTUP1ptmzTQlWf2aRTgU2a/EoYhLZs6VAvvG6I/dS//Tbi8N7UCq7XMttZhDfTcX3s4bHtkVCctf2io1ky7VFfENneYxWSvWUjpIkcdnXR9dG0e7NBtVB4fu+cI8i/bolHVlq2/xhVflIbGhGvuDX1cjCk6d1Mui6lwwHSJv8W3VPMQ/zJN5+6obEtSyZih2KgQfXhrQplZEWfr2jxI8a1DXX4qtlgsqmyvZrMQf70xIU4RQc5/5s9fG6vn/tpD9yR20OTE9hUeb9qfuigy2K/cG5wF+BQH5CevdD1GY+aZ8RvPXxtb4XOW5+znuLhjuObeEKclDzqfAVRey4+rDzQlmgb7a+4NcbqhX7Su61txaybqDmbTXMD8vD3VpVn1ffqeeHE7XdIp3OkF2Z79wK3plzsOLI0I8tML1/V02tpgSIoMLr+7x5WSmyBK0qShHXTfR+vLlPlLrxaa9cNO7T9WvFDc2a0lrq490/7UWYVWQwltGutP3Zs6XQ76y7sGaEf6CYU39NXAp36ybff18lBeYWk4ujgmXP3aNla3FsHafCi7zHHcPV8lLU1RoQHa+vgI+XnX3OePB0fE6LbBbXXroDZO16epCe/dHK8nv9mmub/sLbdcp6ZBWvlwohoFVK7L7N2bL1Kwv7dy8wr19YYjTstU9Kn6u8mDlFdYpCYNfTW0U4SWd4pwui5QyWy1yqrMh/mGfl62Oi66f4je/GWf3vp1n0OZa/u21OiezW3dqe5aP32Ydh89oZ5RIXro04129bPokpgIl/sltG2sxQ9crJRvt9ruHlvCWZfi2S6JiSj3+KibaBlBtfHwsKhLs+BzviX1n3s0c/pmcy7L8zXw9dL39wxS6r2DdXXvFlr8wMUa1c29vmBXF4HGgb6a/bdeuv6iVi5fe0M/b/Vu1chhiubfB7XRyDN1aH6mdcXb00Pv3XKR7R5IzgT5lX3Dvv6ilmrTxLH7adLQ9vpucumMGX8fzwovoGGBPuU+/sCIjlrz6KW656ypin7eHrauD2fPMbB9WLnHPdsPyYN0+5C2WnT/EF1/UUs9eWU33T+8o8MA5/uGdZCXp4emXd5Z254YodfHux6bYVHxbDBX56eH3cyNF67raRvnU96Py1nLyBN2s7baNGmg7i1CHB7/6LYE1wd0oqLwFFKJ8UitGjewrRMkFS/g9eqZQcL2QWT0mfVBypsBV+LeSzso2N9bvVo2ksVisZ1fZ62izkSFBujlsb1tA0NfGdtLnZsG6dlrelSwJ+orWkZQZ7izWHBMZNlBpfazR6JCA3Rlz+b6euMR27Q9qfQTpTP2F9l/XeW8+dvTroyvi1aIXi1DtGb/cV3Tu4Uig/3Uo0WwRnStfDB6YESMHjlr5dt/ju6mqZ9s1J6juZKkH5IH2wbuVae4VqEKbeDjMEhxwT2DFF7OAOVP7uintKzTWrwz02WZEV0iNX9zmu37duENbV0p/xzt+LO+d1iuVu49ptF2Fz4/b09d2tm9T8t+3h46XVDcKvXZxP7KK7SWaSUob1yIp0fZ8zugvfPppiXs7zflYZHeTOpbbvnAcn4fJSn50g7ak3lCV/duoXs+KNvaVyI8yE8/3TdEDf28XI5hmXlVd/2lVwv1bR2qj1cftG3/W3xLvbe89Jb0m/8xvEwLxstje+nnHZm6xMn09Mr81V7Wrakuc/PDAeoXwgjqDHcaRnpEhejf4+PUspyxGkM7hevruwcounFpGHn+2p6aNG+t7rrEed/9ezfHKze/yOWFz9/HU/cN66C8QqvCGzq/QH90Wz9lnypQozNdR5UdMzH1suKL8/UXtSoTRs5W1SAS2sBHmSfyXT5eEkLsw0j7CrrlerVspPmbnHd1lLhxQGuHMFKe1mEN1NrJIOTyOGvhaNLQ17Y4lv3sL3u+Xp568bqeyi+0KjTQR0lvrrQF0bNzyn9v7FtmAHaZeth19u2cMdJl2HljQpye/m67nvtrbJnHSsaDSFKjBj569+biMRj2YeTsAeKSKvyZ+Xl7alCHsmEqNirEIYw460pp6OfNrBOcE8II6gx3pzImVvBJ2WKxlBmD0S48UF/fPdDFHlK/dhV3N9zpIsiU8PSw2IJI+fUr/X/PliGa0C+63PKThrZX6tb0cxrY9/LY3pryvw3KPl2gHeknyjxekkGKKhppWMb5mbVgf3PI6mI/Y2XXjMtsXT0tGvlr8+HicT0+nh62C/kN/aIV6OvlcsBzifJ+IkM7RWhoJ8ff30f/1Fkr9x6rVPfi2WMx3HXroDZ6d/l+/X1QG13Tu4Ua+HjpuQXbK/wdBKqKMIJa7/YhbbX/95PqdQEvPPTpHf0dvr9jSFu9vNBxeffIYD8tf2ioW9MVB7QL05Jdxd0nV/VqoXbhgfr49n6SnN+EsaSrzN0w0rNlSLmPB1Zi4GJlvHNTvN5e9psGtAvT+Lkr7B4p+zOpyhgk+zEnUy7rpO82p0uSw1Thx/7serVf+1Pj7qzSmwa01k0DXLeivZXUR7N+2Kmnr+5+zvfFmjqyk6ba3fNqVPemVW75KG+xRaAEA1hR6z04Ikazx/ZiTQA79w/vqLsvKbuwm7s/I/vZSfYrZdqzvwiVXL+vPdP64qxZXyq+s7O9iCA//TrlEpeLTHVuFqSJF7cts5aLu6JCA/TQyE4a1KGJ7h5afgvViDOLq1V22vXZ7AeX1oZppkM6huuzif0r7DY738Ib+mnJgxdr3bRLza4KajFaRoBayrec8QcWi6Va1gqxn4btavyC/ZL8JYMfW4c10MbHhqmBj/O3kMUPXqzHvtjscDfTZiH+5Q4Qvn94+Wt/VLf7hndUl+ZBGtCu/EGnrti3kjgZy+qUY8vIhROuWzSqOzf6gzkII0AtNf3yLtp9NLfcpvlzNaFftE7mF2lQh/LHwryZ1EdpWafVMbI0vJR3o6+wQF+99Lde1VbPc+Xsuu/n7akre1Z9wb9AXy/dOqhNuYOVne0DoCz+MoBaKio0QD9VcGfjc+Xj5aFJLlb9LJlue2P/6Dp/o7Dybmt/LuzHVVSqHo0b6J7EDgp2sroucCHjLwKoo85hDbhKeeX6Xso6VaCQgIpn/tR2jWvRjQFdhT/gQsYAVgBOWSyWag8i4S7uzwLgwkbLCFBHncvy+Ga5b1hHZebk66pKLDkO4MJBGAHqKHeWx68tQgJ8NOfMfVEAoATdNAAAwFSEEaCOKrmxWGxUiLkVAYBzRDcNUEdFBPlp0z+Gl1ntFADqGsIIUIexiBaA+oBuGgD1Uuem3KANqCv4WAWgXhreJUJPXd1d3ZoHm10VABUgjAColywWi/4aF2V2NQBUAt00AADAVIQRAABgKsIIAAAwFWEEAACYijACAABMRRgBAACmIowAAABTEUYAAICpCCMAAMBUhBEAAGAqwggAADAVYQQAAJiKMAIAAExVJ+7aaxiGJCk7O9vkmgAAgMoquW6XXMddqRNhJCcnR5IUFcXtwAEAqGtycnIUHBzs8nGLUVFcqQWsVqsOHz6shg0bymKxVNtxs7OzFRUVpQMHDigoKKjajouaxXmrmzhvdRfnrm6qDefNMAzl5OSoWbNm8vBwPTKkTrSMeHh4qEWLFjV2/KCgIP7A6iDOW93Eeau7OHd1k9nnrbwWkRIMYAUAAKYijAAAAFNd0GHE19dX06dPl6+vr9lVgRs4b3UT563u4tzVTXXpvNWJAawAAKD+uqBbRgAAgPkIIwAAwFSEEQAAYCrCCAAAMNUFHUZmz56t6Oho+fn5KT4+XitWrDC7SheMlJQU9enTRw0bNlR4eLhGjx6t7du3O5Q5ffq0Jk6cqMaNGyswMFBXXXWV0tPTHcrs379fo0aNUkBAgMLDw3X//fersLDQoczChQvVq1cv+fr6ql27dnrrrbdq+uVdMGbOnCmLxaLJkyfbtnHeaqdDhw7p+uuvV+PGjeXv769u3bpp1apVtscNw9C0adPUtGlT+fv7KzExUTt37nQ4xrFjxzR27FgFBQUpJCREN910k06cOOFQZsOGDRo4cKD8/PwUFRWlp5566ry8vvqoqKhIjz76qFq3bi1/f3+1bdtWTzzxhMN9XurNeTMuUPPmzTN8fHyMuXPnGps3bzZuueUWIyQkxEhPTze7aheE4cOHG2+++aaxadMmY926dcbIkSONli1bGidOnLCVue2224yoqCgjNTXVWLVqlXHRRRcZ/fr1sz1eWFhodO3a1UhMTDTWrl1rfPPNN0ZYWJgxdepUW5k9e/YYAQEBRnJysrFlyxbjxRdfNDw9PY358+ef19dbH61YscKIjo42unfvbkyaNMm2nfNW+xw7dsxo1aqVccMNNxjLly839uzZY3z33XfGrl27bGVmzpxpBAcHG5999pmxfv16489//rPRunVr49SpU7YyI0aMMHr06GEsW7bMWLx4sdGuXTvjuuuusz2elZVlREREGGPHjjU2bdpkvP/++4a/v7/x6quvntfXW1/MmDHDaNy4sfHVV18Ze/fuNT766CMjMDDQeP75521l6st5u2DDSN++fY2JEyfavi8qKjKaNWtmpKSkmFirC1dGRoYhyVi0aJFhGIZx/Phxw9vb2/joo49sZbZu3WpIMpYuXWoYhmF88803hoeHh5GWlmYr88orrxhBQUFGXl6eYRiG8cADDxhdunRxeK4xY8YYw4cPr+mXVK/l5OQY7du3NxYsWGAMHjzYFkY4b7XTgw8+aAwYMMDl41ar1YiMjDSefvpp27bjx48bvr6+xvvvv28YhmFs2bLFkGSsXLnSVubbb781LBaLcejQIcMwDOPll182GjVqZDuPJc/dsWPH6n5JF4RRo0YZN954o8O2v/zlL8bYsWMNw6hf5+2C7KbJz8/X6tWrlZiYaNvm4eGhxMRELV261MSaXbiysrIkSaGhoZKk1atXq6CgwOEcxcTEqGXLlrZztHTpUnXr1k0RERG2MsOHD1d2drY2b95sK2N/jJIynOdzM3HiRI0aNarMz5bzVjt98cUXiouL0zXXXKPw8HD17NlTr7/+uu3xvXv3Ki0tzeFnHhwcrPj4eIfzFhISori4OFuZxMREeXh4aPny5bYygwYNko+Pj63M8OHDtX37dv3xxx81/TLrnX79+ik1NVU7duyQJK1fv15LlizRZZddJql+nbc6caO86paZmamioiKHN0NJioiI0LZt20yq1YXLarVq8uTJ6t+/v7p27SpJSktLk4+Pj0JCQhzKRkREKC0tzVbG2Tkseay8MtnZ2Tp16pT8/f1r4iXVa/PmzdOaNWu0cuXKMo9x3mqnPXv26JVXXlFycrIeeughrVy5Unfffbd8fHw0YcIE28/d2c/c/pyEh4c7PO7l5aXQ0FCHMq1bty5zjJLHGjVqVCOvr76aMmWKsrOzFRMTI09PTxUVFWnGjBkaO3asJNWr83ZBhhHULhMnTtSmTZu0ZMkSs6uCChw4cECTJk3SggUL5OfnZ3Z1UElWq1VxcXF68sknJUk9e/bUpk2bNGfOHE2YMMHk2sGVDz/8UO+++67ee+89denSRevWrdPkyZPVrFmzenfeLshumrCwMHl6epYZ4Z+enq7IyEiTanVhuvPOO/XVV1/pp59+UosWLWzbIyMjlZ+fr+PHjzuUtz9HkZGRTs9hyWPllQkKCuLTdRWsXr1aGRkZ6tWrl7y8vOTl5aVFixbphRdekJeXlyIiIjhvtVDTpk3VuXNnh22dOnXS/v37JZX+3Mt7T4yMjFRGRobD44WFhTp27Jhb5xaVd//992vKlCm69tpr1a1bN40bN0733HOPUlJSJNWv83ZBhhEfHx/17t1bqamptm1Wq1WpqalKSEgwsWYXDsMwdOedd+rTTz/Vjz/+WKaJsHfv3vL29nY4R9u3b9f+/ftt5yghIUEbN250+ENbsGCBgoKCbG+8CQkJDscoKcN5rpqhQ4dq48aNWrdune0rLi5OY8eOtf2f81b79O/fv8zU+R07dqhVq1aSpNatWysyMtLhZ56dna3ly5c7nLfjx49r9erVtjI//vijrFar4uPjbWV+/vlnFRQU2MosWLBAHTt2pIumCk6ePCkPD8fLtKenp6xWq6R6dt7O21DZWmbevHmGr6+v8dZbbxlbtmwx/v73vxshISEOI/xRc26//XYjODjYWLhwoXHkyBHb18mTJ21lbrvtNqNly5bGjz/+aKxatcpISEgwEhISbI+XTBEdNmyYsW7dOmP+/PlGkyZNnE4Rvf/++42tW7cas2fPZopoNbOfTWMYnLfaaMWKFYaXl5cxY8YMY+fOnca7775rBAQEGO+8846tzMyZM42QkBDj888/NzZs2GBcccUVTqeI9uzZ01i+fLmxZMkSo3379g5TRI8fP25EREQY48aNMzZt2mTMmzfPCAgIYGpvFU2YMMFo3ry5bWrvJ598YoSFhRkPPPCArUx9OW8XbBgxDMN48cUXjZYtWxo+Pj5G3759jWXLlpldpQuGJKdfb775pq3MqVOnjDvuuMNo1KiRERAQYFx55ZXGkSNHHI6zb98+47LLLjP8/f2NsLAw49577zUKCgocyvz0009GbGys4ePjY7Rp08bhOXDuzg4jnLfa6csvvzS6du1q+Pr6GjExMcZrr73m8LjVajUeffRRIyIiwvD19TWGDh1qbN++3aHM77//blx33XVGYGCgERQUZCQlJRk5OTkOZdavX28MGDDA8PX1NZo3b27MnDmzxl9bfZWdnW1MmjTJaNmypeHn52e0adPGePjhhx2m4NaX82YxDLul3AAAAM6zC3LMCAAAqD0IIwAAwFSEEQAAYCrCCAAAMBVhBAAAmIowAgAATEUYAQAApiKMAAAAUxFGAACAqQgjAADAVIQRAABgKsIIAAAw1f8D2/baXajbwN8AAAAASUVORK5CYII=",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# 归一化互相关算法，这个在CMSIS-DSP有对应函数实现\n",
    "sig_correlation = np.correlate(sig_a,sig_b,mode='full') / 4096.0\n",
    "plt.plot(sig_correlation)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "id": "c8cf79d1",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-15.789569160997733"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 计算到达时差\n",
    "max_index = sig_correlation.argmax()\n",
    "time_diff = (max_index - 4095) / SAMPLE_RATE\n",
    "# 计算到达距离差\n",
    "distance_diff = time_diff * V\n",
    "distance_diff"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "base",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.12"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}
